Method of hub communication, processing, storage and display

ABSTRACT

Disclosed is a method including detecting a modular surgical device within bounds of a surgical operating room; connecting the modular surgical device to a surgical hub; connecting the surgical hub to a cloud-based system; transmitting surgical data associated with a surgical procedure being performed in the surgical operating room from the modular surgical device to the surgical hub; and transmitting the surgical data from the surgical hub to the cloud-based system.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority under 35 U.S.C. § 119(e) to U.S.Provisional Patent Application No. 62/773,778, titled METHOD FORADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORK CONTROL AND INTERACTION,filed Nov. 30, 2018, to U.S. Provisional Patent Application No.62/773,728, titled METHOD FOR SITUATIONAL AWARENESS FOR SURGICAL NETWORKOR SURGICAL NETWORK CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASEDON A SENSED SITUATION OR USAGE, filed Nov. 30, 2018, to U.S. ProvisionalPatent Application No. 62/773,741, titled METHOD FOR FACILITY DATACOLLECTION AND INTERPRETATION, filed Nov. 30, 2018, and to U.S.Provisional Patent Application No. 62/773,742, titled METHOD FORCIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENT BASED ON SITUATIONALAWARENESS, filed Nov. 30, 2018, the disclosure of each of which isherein incorporated by reference in its entirety.

The present application claims priority under 35 U.S.C. § 119(e) to U.S.Provisional Patent Application No. 62/750,529, titled METHOD FOROPERATING A POWERED ARTICULATING MULTI-CLIP APPLIER, filed Oct. 25,2018, to U.S. Provisional Patent Application No. 62/750,539, titledSURGICAL CLIP APPLIER, filed Oct. 25, 2018, and to U.S. ProvisionalPatent Application No. 62/750,555, titled SURGICAL CLIP APPLIER, filedOct. 25, 2018, the disclosure of each of which is herein incorporated byreference in its entirety.

The present application also claims priority under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application No. 62/729,183, titled CONTROL FOR ASURGICAL NETWORK OR SURGICAL NETWORK CONNECTED DEVICE THAT ADJUSTS ITSFUNCTION BASED ON A SENSED SITUATION OR USAGE, filed Sep. 10, 2018, toU.S. Provisional Patent Application No. 62/729,177, titled AUTOMATEDDATA SCALING, ALIGNMENT, AND ORGANIZING BASED ON PREDEFINED PARAMETERSWITHIN A SURGICAL NETWORK BEFORE TRANSMISSION, filed Sep. 10, 2018, toU.S. Provisional Patent Application No. 62/729,176, titled INDIRECTCOMMAND AND CONTROL OF A FIRST OPERATING ROOM SYSTEM THROUGH THE USE OFA SECOND OPERATING ROOM SYSTEM WITHIN A STERILE FIELD WHERE THE SECONDOPERATING ROOM SYSTEM HAS PRIMARY AND SECONDARY OPERATING MODES, filedSep. 10, 2018, to U.S. Provisional Patent Application No. 62/729,185,titled POWERED STAPLING DEVICE THAT IS CAPABLE OF ADJUSTING FORCE,ADVANCEMENT SPEED, AND OVERALL STROKE OF CUTTING MEMBER OF THE DEVICEBASED ON SENSED PARAMETER OF FIRING OR CLAMPING, filed Sep. 10, 2018, toU.S. Provisional Patent Application No. 62/729,184, titled POWEREDSURGICAL TOOL WITH A PREDEFINED ADJUSTABLE CONTROL ALGORITHM FORCONTROLLING AT LEAST ONE END EFFECTOR PARAMETER AND A MEANS FOR LIMITINGTHE ADJUSTMENT, filed Sep. 10, 2018, to U.S. Provisional PatentApplication No. 62/729,182, titled SENSING THE PATIENT POSITION ANDCONTACT UTILIZING THE MONO-POLAR RETURN PAD ELECTRODE TO PROVIDESITUATIONAL AWARENESS TO THE HUB, filed Sep. 10, 2018, to U.S.Provisional Patent Application No. 62/729,191, titled SURGICAL NETWORKRECOMMENDATIONS FROM REAL TIME ANALYSIS OF PROCEDURE VARIABLES AGAINST ABASELINE HIGHLIGHTING DIFFERENCES FROM THE OPTIMAL SOLUTION, filed Sep.10, 2018, to U.S. Provisional Patent Application No. 62/729,195, tidedULTRASONIC ENERGY DEVICE WHICH VARIES PRESSURE APPLIED BY CLAMP ARM TOPROVIDE THRESHOLD CONTROL PRESSURE AT A CUT PROGRESSION LOCATION, filedSep. 10, 2018, and to U.S. Provisional Patent Application No.62/729,186, titled WIRELESS PAIRING OF A SURGICAL DEVICE WITH ANOTHERDEVICE WITHIN A STERILE SURGICAL FIELD BASED ON THE USAGE ANDSITUATIONAL AWARENESS OF DEVICES, filed Sep. 10, 2018, the disclosure ofeach of which is herein incorporated by reference in its entirety.

The present application also claims priority under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application No. 62/721,995, tided CONTROLLING ANULTRASONIC SURGICAL INSTRUMENT ACCORDING TO TISSUE LOCATION, filed Aug.23, 2018, to U.S. Provisional Patent Application No. 62/721,998, titledSITUATIONAL AWARENESS OF ELECTROSURGICAL SYSTEMS, filed Aug. 23, 2018,to U.S. Provisional Patent Application No. 62/721,999, titledINTERRUPTION OF ENERGY DUE TO INADVERTENT CAPACITIVE COUPLING, filedAug. 23, 2018, to U.S. Provisional Patent Application No. 62/721,994,titled BIPOLAR COMBINATION DEVICE THAT AUTOMATICALLY ADJUSTS PRESSUREBASED ON ENERGY MODALITY, filed Aug. 23, 2018, and to U.S. ProvisionalPatent Application No. 62/721,996, titled RADIO FREQUENCY ENERGY DEVICEFOR DELIVERING COMBINED ELECTRICAL SIGNALS, filed Aug. 23, 2018, thedisclosure of each of which is herein incorporated by reference in itsentirety.

The present application also claims priority under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application No. 62/692,747, titled SMARTACTIVATION OF AN ENERGY DEVICE BY ANOTHER DEVICE, filed on Jun. 30,2018, to U.S. Provisional Patent Application No. 62/692,748, titledSMART ENERGY ARCHITECTURE, filed on Jun. 30, 2018, and to U.S.Provisional Patent Application No. 62/692,768, titled SMART ENERGYDEVICES, filed on Jun. 30, 2018, the disclosure of each of which isherein incorporated by reference in its entirety.

The present application also claims priority under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application No. 62/691,228, tided METHOD OFUSING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITHELECTROSURGICAL DEVICES, filed Jun. 28, 2018, to U.S. Provisional PatentApplication No. 62/691,227, tided CONTROLLING A SURGICAL INSTRUMENTACCORDING TO SENSED CLOSURE PARAMETERS, filed June 28, 2018, to U.S.Provisional Patent Application No. 62/691,230, tided SURGICAL INSTRUMENTHAVING A FLEXIBLE ELECTRODE, filed Jun. 28, 2018, to U.S. ProvisionalPatent Application No. 62/691,219, tided SURGICAL EVACUATION SENSING ANDMOTOR CONTROL, filed Jun. 28, 2018, to U.S. Provisional PatentApplication No. 62/691,257, tided COMMUNICATION OF SMOKE EVACUATIONSYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FORINTERACTIVE SURGICAL PLATFORM, filed Jun. 28, 2018, to U.S. ProvisionalPatent Application No. 62/691,262, tided SURGICAL EVACUATION SYSTEM WITHA COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKEEVACUATION DEVICE, filed Jun. 28, 2018, and to U.S. Provisional PatentApplication No. 62/691,251, titled DUAL IN-SERIES LARGE AND SMALLDROPLET FILTERS, filed Jun. 28, 2018, the disclosure of each of which isherein incorporated by reference in its entirety.

The present application claims priority under 35 U.S.C. § 119(e) to U.S.Provisional Patent Application No. 62/665,129, tided SURGICAL SUTURINGSYSTEMS, filed May 1, 2018, to U.S. Provisional Patent Application No.62/665,139, tided SURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS, filedMay 1, 2018, to U.S. Provisional Patent Application No. 62/665,177,titled SURGICAL INSTRUMENTS COMPRISING HANDLE ARRANGEMENTS, filed May 1,2018, to U.S. Provisional Patent Application No. 62/665,128, titledMODULAR SURGICAL INSTRUMENTS, filed May 1, 2018, to U.S. ProvisionalPatent Application No. 62/665,192, titled SURGICAL DISSECTORS, filed May1, 2018, and to U.S. Provisional Patent Application No. 62/665,134,titled SURGICAL CLIP APPLIER, filed May 1, 2018, the disclosure of eachof which is herein incorporated by reference in its entirety.

The present application also claims priority under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application No. 62/659,900, titled METHOD OF HUBCOMMUNICATION, filed on Apr. 19, 2018, the disclosure of which is hereinincorporated by reference in its entirety.

The present application also claims priority under 35 U.S.C. § 119(e) toU.S. Provisional Patent Application No. 62/650,898, filed on Mar. 30,2018, titled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAYELEMENTS, to U.S. Provisional Patent Application No. 62/650,887, titledSURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES, filed Mar. 30,2018, to U.S. Provisional Patent Application No. 62/650,882, titledSMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM, filed March30, 2018, and to U.S. Provisional Patent Application No. 62/650,877,titled SURGICAL SMOKE EVACUATION SENSING AND CONTROLS, filed Mar. 30,2018, the disclosure of each of which is herein incorporated byreference in its entirety.

This application also claims the benefit of priority under 35 U.S.C. §119(e) to U.S. Provisional Patent Application No. 62/649,302, titledINTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES,filed Mar. 28, 2018, to U.S. Provisional Patent Application No.62/649,294, titled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDSAND CREATE ANONYMIZED RECORD, filed Mar. 28, 2018, to U.S. ProvisionalPatent Application No. 62/649,300, titled SURGICAL HUB SITUATIONALAWARENESS, filed Mar. 28, 2018, to U.S. Provisional Patent ApplicationNo. 62/649,309, titled SURGICAL HUB SPATIAL AWARENESS TO DETERMINEDEVICES IN OPERATING THEATER, filed Mar. 28, 2018, to U.S. ProvisionalPatent Application No. 62/649,310, titled COMPUTER IMPLEMENTEDINTERACTIVE SURGICAL SYSTEMS, filed Mar. 28, 2018, to U.S. ProvisionalPatent Application No. 62/649,291, titled USE OF LASER LIGHT ANDRED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTEREDLIGHT, filed Mar. 28, 2018, to U.S. Provisional Patent Application No.62/649,296, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICALDEVICES, filed Mar. 28, 2018, to U.S. Provisional Patent Application No.62/649,333, titled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION ANDRECOMMENDATIONS TO A USER, filed Mar. 28, 2018, to U.S. ProvisionalPatent Application No. 62/649,327, titled CLOUD-BASED MEDICAL ANALYTICSFOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES, filed Mar.28, 2018, to U.S. Provisional Patent Application No. 62/649,315, titledDATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK, filedMar. 28, 2018, to U.S. Provisional Patent Application No. 62/649,313,titled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES, filed Mar. 28,2018, to U.S. Provisional Patent Application No. 62/649,320, titledDRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, filed Mar. 28,2018, to U.S. Provisional Patent Application No. 62/649,307, titledAUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, filedMar. 28, 2018, and to U.S. Provisional Patent Application No.62/649,323, titled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICALPLATFORMS, filed Mar. 28, 2018, the disclosure of each of which isherein incorporated by reference in its entirety.

This application also claims the benefit of priority under 35 U.S.C. §119(e) to U.S. Provisional Patent Application No. 62/611,341, titledINTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, to U.S. ProvisionalPatent Application No. 62/611,340, titled CLOUD-BASED MEDICAL ANALYTICS,filed Dec. 28, 2017, and to U.S. Provisional Patent Application No.62/611,339, titled ROBOT ASSISTED SURGICAL PLATFORM, filed Dec. 28,2017, the disclosure of each of which is herein incorporated byreference in its entirety.

BACKGROUND

The present disclosure relates to various surgical systems. Surgicalprocedures are typically performed in surgical operating theaters orrooms in a healthcare facility such as, for example, a hospital. Asterile field is typically created around the patient. The sterile fieldmay include the scrubbed team members, who are properly attired, and allfurniture and fixtures in the area. Various surgical devices and systemsare utilized in performance of a surgical procedure.

Furthermore, in the Digital and Information Age, medical systems andfacilities are often slower to implement systems or procedures utilizingnewer and improved technologies due to patient safety and a generaldesire for maintaining traditional practices. However, often timesmedical systems and facilities may lack communication and sharedknowledge with other neighboring or similarly situated facilities as aresult. To improve patient practices, it would be desirable to find waysto help interconnect medical systems and facilities better.

SUMMARY

In one aspect the present disclosure provides a method, comprising:detecting a modular surgical device within bounds of a surgicaloperating room; connecting the modular surgical device to a surgicalhub; connecting the surgical hub to a cloud-based system; transmittingsurgical data associated with a surgical procedure being performed inthe surgical operating room from the modular surgical device to thesurgical hub; and transmitting the surgical data from the surgical hubto the cloud-based system.

In another aspect the present disclosure provides a method, comprising:detecting a medical imaging device within bounds of a surgical operatingroom; connecting the medical imaging device to a surgical hub includingan imaging module; transmitting a livestream of a surgical site in thesurgical operating room from the medical imaging device to the imagingmodule; capturing, by the imaging module, at least one image frame fromthe livestream; deriving information relevant to the surgical site fromdata extracted from the at least one image frame; transmitting theinformation from the surgical hub to the medical imaging device; andoverlaying the information onto the livestream.

In another aspect the present disclosure provides a method, comprising:detecting a modular surgical device within bounds of a surgicaloperating room; connecting the modular surgical device to a surgicalhub; transmitting a livestream of a surgical site in the surgicaloperating room to an imaging module of the surgical hub; capturing, bythe imaging module, at least one image frame from the livestream; andassessing a surgical activity performed by an end effector of themodular surgical device at the surgical site from data extracted fromthe at least one image frame.

FIGURES

The features of various aspects are set forth with particularity in theappended claims The various aspects, however, both as to organizationand methods of operation, together with further objects and advantagesthereof, may best be understood by reference to the followingdescription, taken in conjunction with the accompanying drawings asfollows.

FIG. 1 is a block diagram of a computer-implemented interactive surgicalsystem, in accordance with at least one aspect of the presentdisclosure.

FIG. 2 is a surgical system being used to perform a surgical procedurein an operating room, in accordance with at least one aspect of thepresent disclosure.

FIG. 3 is a surgical hub paired with a visualization system, a roboticsystem, and an intelligent instrument, in accordance with at least oneaspect of the present disclosure.

FIG. 4 is a partial perspective view of a surgical hub enclosure, and ofa combo generator module slidably receivable in a drawer of the surgicalhub enclosure, in accordance with at least one aspect of the presentdisclosure.

FIG. 5 is a perspective view of a combo generator module with bipolar,ultrasonic, and monopolar contacts and a smoke evacuation component, inaccordance with at least one aspect of the present disclosure.

FIG. 6 illustrates individual power bus attachments for a plurality oflateral docking ports of a lateral modular housing configured to receivea plurality of modules, in accordance with at least one aspect of thepresent disclosure.

FIG. 7 illustrates a vertical modular housing configured to receive aplurality of modules, in accordance with at least one aspect of thepresent disclosure.

FIG. 8 illustrates a surgical data network comprising a modularcommunication hub configured to connect modular devices located in oneor more operating theaters of a healthcare facility, or any room in ahealthcare facility specially equipped for surgical operations, to thecloud, in accordance with at least one aspect of the present disclosure.

FIG. 9 illustrates a computer-implemented interactive surgical system,in accordance with at least one aspect of the present disclosure.

FIG. 10 illustrates a surgical hub comprising a plurality of modulescoupled to the modular control tower, in accordance with at least oneaspect of the present disclosure.

FIG. 11 illustrates one aspect of a Universal Serial Bus (USB) networkhub device, in accordance with at least one aspect of the presentdisclosure.

FIG. 12 illustrates a logic diagram of a control system of a surgicalinstrument or tool, in accordance with at least one aspect of thepresent disclosure.

FIG. 13 illustrates a control circuit configured to control aspects ofthe surgical instrument or tool, in accordance with at least one aspectof the present disclosure.

FIG. 14 illustrates a combinational logic circuit configured to controlaspects of the surgical instrument or tool, in accordance with at leastone aspect of the present disclosure.

FIG. 15 illustrates a sequential logic circuit configured to controlaspects of the surgical instrument or tool, in accordance with at leastone aspect of the present disclosure.

FIG. 16 illustrates a surgical instrument or tool comprising a pluralityof motors which can be activated to perform various functions, inaccordance with at least one aspect of the present disclosure.

FIG. 17 is a schematic diagram of a robotic surgical instrumentconfigured to operate a surgical tool described herein, in accordancewith at least one aspect of the present disclosure.

FIG. 18 illustrates a block diagram of a surgical instrument programmedto control the distal translation of a displacement member, inaccordance with at least one aspect of the present disclosure.

FIG. 19 is a schematic diagram of a surgical instrument configured tocontrol various functions, in accordance with at least one aspect of thepresent disclosure.

FIG. 20 is a simplified block diagram of a generator configured toprovide inductorless tuning, among other benefits, in accordance with atleast one aspect of the present disclosure.

FIG. 21 illustrates an example of a generator, which is one form of thegenerator of FIG. 20, in accordance with at least one aspect of thepresent disclosure.

FIG. 22 illustrates a combination generator, in accordance with at leastone aspect of the present disclosure.

FIG. 23 illustrates a method of capturing data from a combinationgenerator and communicating the captured generator data to a cloud-basedsystem, in accordance with at least one aspect of the presentdisclosure.

FIG. 24 illustrates a data packet of combination generator data, inaccordance with at least one aspect of the present disclosure.

FIG. 25 illustrates an encryption algorithm, in accordance with at leastone aspect of the present disclosure.

FIG. 26 illustrates another encryption algorithm, in accordance with atleast one aspect of the present disclosure.

FIG. 27 illustrates yet another encryption algorithm, in accordance withat least one aspect of the present disclosure.

FIG. 28 illustrates a high-level representation of a datagram, inaccordance with at least one aspect of the present disclosure.

FIG. 29 illustrates a more detailed representation of the datagram ofFIG. 28, in accordance with at least one aspect of the presentdisclosure.

FIG. 30 illustrates another representation of the datagram of FIG. 28,in accordance with at least one aspect of the present disclosure.

FIG. 31 illustrates a method of identifying surgical data associatedwith a failure event and communicating the identified surgical data to acloud-based system on a prioritized basis, in accordance with at leastone aspect of the present disclosure.

FIG. 32 illustrates yet another representation of the datagram of FIG.28, in accordance with at least one aspect of the present disclosure.

FIG. 33 illustrates a partial artificial timeline of a surgicalprocedure performed in an operating room via a surgical system, inaccordance with at least one aspect of the present disclosure.

FIG. 34 illustrates ultrasonic pinging of an operating room wall todetermine a distance between a surgical hub and the operating room wall,in accordance with at least one aspect of the present disclosure.

FIG. 35 is a logic flow diagram of a process depicting a control programor a logic configuration for surgical hub pairing with surgical devicesof a surgical system that are located within the bounds of an operatingroom, in accordance with at least one aspect of the present disclosure.

FIG. 36 is a logic flow diagram of a process depicting a control programor a logic configuration for selectively forming and severingconnections between devices of a surgical system, in accordance with atleast one aspect of the present disclosure.

FIG. 37 is a logic flow diagram of a process depicting a control programor a logic configuration for selectively reevaluating the bounds of anoperating room after detecting a new device, in accordance with at leastone aspect of the present disclosure.

FIG. 38 is a logic flow diagram of a process depicting a control programor a logic configuration for selectively reevaluating the bounds of anoperating room after disconnection of a paired device, in accordancewith at least one aspect of the present disclosure.

FIG. 39 is a logic flow diagram of a process depicting a control programor a logic configuration for reevaluating the bounds of an operatingroom by a surgical hub after detecting a change in the position of thesurgical hub, in accordance with at least one aspect of the presentdisclosure.

FIG. 40 is a logic flow diagram of a process depicting a control programor a logic configuration for selectively forming connections betweendevices of a surgical system, in accordance with at least one aspect ofthe present disclosure.

FIG. 41 is a logic flow diagram of a process depicting a control programor a logic configuration for selectively forming and severingconnections between devices of a surgical system, in accordance with atleast one aspect of the present disclosure.

FIG. 42 illustrates a surgical hub pairing a first device and a seconddevice of a surgical system in an operating room, in accordance with atleast one aspect of the present disclosure.

FIG. 43 illustrates a surgical hub unpairing a first device and a seconddevice of a surgical system in an operating room, and pairing the firstdevice with a third device in the operating room, in accordance with atleast one aspect of the present disclosure.

FIG. 44 is a logic flow diagram of a process depicting a control programor a logic configuration for forming an severing connections betweendevices of a surgical system in an operating room during a surgicalprocedure based on progression of the steps of the surgical procedure,in accordance with at least one aspect of the present disclosure.

FIG. 45 is a logic flow diagram of a process depicting a control programor a logic configuration for overlaying information derived from one ormore still frames of a livestream of a remote surgical site onto thelivestream, in accordance with at least one aspect of the presentdisclosure.

FIG. 46 is a logic flow diagram of a process depicting a control programor a logic configuration for differentiating among surgical steps of asurgical procedure, in accordance with at least one aspect of thepresent disclosure.

FIG. 47 is a logic flow diagram of a process 3230 depicting a controlprogram or a logic configuration for differentiating among surgicalsteps of a surgical procedure, in accordance with at least one aspect ofthe present disclosure.

FIG. 48 is a logic flow diagram of a process 3240 depicting a controlprogram or a logic configuration for identifying a staple cartridge frominformation derived from one or more still frames of staples deployedfrom the staple cartridge into tissue, in accordance with at least oneaspect of the present disclosure.

FIG. 49 is a partial view of a surgical system in an operating room, thesurgical system including a surgical hub that has an imaging module incommunication with an imaging device at a remote surgical site, inaccordance with at least one aspect of the present disclosure.

FIG. 50 illustrates a partial view of stapled tissue that received afirst staple firing and a second staple firing arranged end-to-end, inaccordance with at least one aspect of the present disclosure.

FIG. 51 illustrates three rows of staples deployed on one side of atissue stapled and cut by a surgical stapler, in accordance with atleast one aspect of the present disclosure.

FIG. 52 illustrates a non-anodized staple and an anodized staple, inaccordance with at least one aspect of the present disclosure.

FIG. 53 is a logic flow diagram of a process depicting a control programor a logic configuration for coordinating a control arrangement betweensurgical hubs, in accordance with at least one aspect of the presentdisclosure.

FIG. 54 illustrates an interaction between two surgical hubs in anoperating room, in accordance with at least one aspect of the presentdisclosure.

FIG. 55 is a logic flow diagram of a process depicting a control programor a logic configuration for coordinating a control arrangement betweensurgical hubs, in accordance with at least one aspect of the presentdisclosure.

FIG. 56 illustrates an interaction between two surgical hubs indifferent operating rooms (“OR1” and “OR3”), in accordance with at leastone aspect of the present disclosure.

FIG. 57 illustrates a secondary display in an operating room (“OR3”)showing a surgical site in a colorectal procedure, in accordance with atleast one aspect of the present disclosure.

FIG. 58 illustrates a personal interface or tablet in OR1 displaying thesurgical site of OR3, in accordance with at least one aspect of thepresent disclosure.

FIG. 59 illustrates an expanded view of the surgical site of OR3displayed on a primary display of OR1, in accordance with at least oneaspect of the present disclosure.

FIG. 60 illustrates a personal interface or tablet displaying a layoutof OR1 that shows available displays, in accordance with at least oneaspect of the present disclosure.

FIG. 61 illustrates a recommendation of a transection location of asurgical site of OR3 made by a surgical operator in OR1 via a personalinterface or tablet in OR1, in accordance with at least one aspect ofthe present disclosure.

FIG. 62 is a diagram illustrating a technique for interacting with apatient Electronic Medical Record (EMR) database, in accordance with atleast one aspect of the present disclosure.

FIG. 63 illustrates a process of anonymizing a surgical procedure bysubstituting an artificial time measure for a real time clock for allinformation stored internally within the instrument, robot, surgicalhub, and/or hospital computer equipment, in accordance with at least oneaspect of the present disclosure.

FIG. 64 illustrates ultrasonic pinging of an operating room wall todetermine a distance between a surgical hub and the operating room wall,in accordance with at least one aspect of the present disclosure.

FIG. 65 illustrates a diagram depicting the process of importing patientdata stored in an Electronic Medical Record (EMR) database, strippingthe patient data, and identifying smart device implications, inaccordance with at least one aspect of the present disclosure.

FIG. 66 illustrates the application of cloud based analytics to redactedand stripped patient data and independent data pairs, in accordance withat least one aspect of the present disclosure.

FIG. 67 is a logic flow diagram of a process depicting a control programor a logic configuration for associating patient data sets from firstand second sources of data, in accordance with at least one aspect ofthe present disclosure.

FIG. 68 is a logic flow diagram of a process depicting a control programor a logic configuration for stripping data to extract relevant portionsof the data to configure and operate the surgical hub and modules (e.g.,instruments) coupled to the surgical hub, in accordance with at leastone aspect of the present disclosure.

FIG. 69 illustrates a self-describing data packet comprisingself-describing data, in accordance with at least one aspect of thepresent disclosure.

FIG. 70 is a logic flow diagram of a process depicting a control programor a logic configuration for using data packets comprisingself-describing data, in accordance with at least one aspect of thepresent disclosure.

FIG. 71 is a logic flow diagram of a process depicting a control programor a logic configuration for using data packets comprisingself-describing data, in accordance with at least one aspect of thepresent disclosure.

FIG. 72 is a diagram of a tumor embedded in the right superior posteriorlobe of the right lung, in accordance with at least one aspect of thepresent disclosure.

FIG. 73 is a diagram of a lung tumor resection surgical procedureincluding four separate firings of a surgical stapler to seal and cutbronchial vessels exposed in the fissure leading to and from the upperand lower lobes of the right lung shown in FIG. 72, in accordance withat least one aspect of the present disclosure.

FIG. 74 is a graphical illustration of a force-to-close (FTC) versustime curve and a force-to-fire (FTF) versus time curve characterizingthe first firing of device 002 as shown in FIG. 72, in accordance withat least one aspect of the present disclosure.

FIG. 75 is a diagram of a staple line visualization laser Doppler toevaluate the integrity of staple line seals by monitoring bleeding of avessel after a firing of a surgical stapler, in accordance with at leastone aspect of the present disclosure.

FIG. 76 illustrates a paired data set grouped by surgery, in accordancewith at least one aspect of the present disclosure.

FIG. 77 is a diagram of the right lung.

FIG. 78 is a diagram of the bronchial tree including the trachea andbronchi of the lung.

FIG. 79 is a logic flow diagram of a process depicting a control programor a logic configuration for storing paired anonymous data sets groupedby surgery, in accordance with at least one aspect of the presentdisclosure.

FIG. 80 is a logic flow diagram of a process depicting a control programor a logic configuration for determining rate, frequency, and type ofdata to transfer to a remote cloud-based analytics network, inaccordance with at least one aspect of the present disclosure.

FIG. 81 illustrates a diagram of a situationally aware surgical system,in accordance with at least one aspect of the present disclosure.

FIG. 82A illustrates a logic flow diagram of a process for controlling amodular device according to contextual information derived from receiveddata, in accordance with at least one aspect of the present disclosure.

FIG. 82B illustrates a logic flow diagram of a process for controlling asecond modular device according to contextual information derived fromperioperative data received from a first modular device, in accordancewith at least one aspect of the present disclosure.

FIG. 82C illustrates a logic flow diagram of a process for controlling asecond modular device according to contextual information derived fromperioperative data received from a first modular device and the secondmodular device, in accordance with at least one aspect of the presentdisclosure.

FIG. 82D illustrates a logic flow diagram of a process for controlling athird modular device according to contextual information derived fromperioperative data received from a first modular device and a secondmodular device, in accordance with at least one aspect of the presentdisclosure.

FIG. 83A illustrates a diagram of a surgical hub communicably coupled toa particular set of modular devices and an Electronic Medical Record(EMR) database, in accordance with at least one aspect of the presentdisclosure.

FIG. 83B illustrates a diagram of a smoke evacuator including pressuresensors, in accordance with at least one aspect of the presentdisclosure.

FIG. 84A illustrates a logic flow diagram of a process for determining aprocedure type according to smoke evacuator perioperative data, inaccordance with at least one aspect of the present disclosure.

FIG. 84B illustrates a logic flow diagram of a process for determining aprocedure type according to smoke evacuator, insufflator, and medicalimaging device perioperative data, in accordance with at least oneaspect of the present disclosure.

FIG. 84C illustrates a logic flow diagram of a process for determining aprocedure type according to medical imaging device perioperative data,in accordance with at least one aspect of the present disclosure.

FIG. 84D illustrates a logic flow diagram of a process for determining aprocedural step according to insufflator perioperative data, inaccordance with at least one aspect of the present disclosure.

FIG. 84E illustrates a logic flow diagram of a process for determining aprocedural step according to energy generator perioperative data, inaccordance with at least one aspect of the present disclosure.

FIG. 84F illustrates a logic flow diagram of a process for determining aprocedural step according to energy generator perioperative data, inaccordance with at least one aspect of the present disclosure.

FIG. 84G illustrates a logic flow diagram of a process for determining aprocedural step according to stapler perioperative data, in accordancewith at least one aspect of the present disclosure.

FIG. 84H illustrates a logic flow diagram of a process for determining apatient status according to ventilator, pulse oximeter, blood pressuremonitor, and/or EKG monitor perioperative data, in accordance with atleast one aspect of the present disclosure.

FIG. 841 illustrates a logic flow diagram of a process for determining apatient status according to pulse oximeter, blood pressure monitor,and/or EKG monitor perioperative data, in accordance with at least oneaspect of the present disclosure.

FIG. 84J illustrates a logic flow diagram of a process for determining apatient status according to ventilator perioperative data, in accordancewith at least one aspect of the present disclosure.

FIG. 85A illustrates a scanner coupled to a surgical hub for scanning apatient wristband, in accordance with at least one aspect of the presentdisclosure.

FIG. 85B illustrates a scanner coupled to a surgical hub for scanning alist of surgical items, in accordance with at least one aspect of thepresent disclosure.

FIG. 86 illustrates a timeline of an illustrative surgical procedure andthe inferences that the surgical hub can make from the data detected ateach step in the surgical procedure, in accordance with at least oneaspect of the present disclosure.

FIG. 87A illustrates a flow diagram depicting the process of importingpatient data stored in an EMR database and deriving inferencestherefrom, in accordance with at least one aspect of the presentdisclosure.

FIG. 87B illustrates a flow diagram depicting the process of determiningcontrol adjustments corresponding to the derived inferences from FIG.87A, in accordance with at least one aspect of the present disclosure.

FIG. 88 illustrates a block diagram of a computer-implementedinteractive surgical system, in accordance with at least one aspect ofthe present disclosure.

FIG. 89 illustrates a logic flow diagram of tracking data associatedwith an operating theater event, in accordance with at least one aspectof the present disclosure.

FIG. 90 illustrates a diagram depicting how the data tracked by thesurgical hub can be parsed to provide increasingly detailed metrics, inaccordance with at least one aspect of the present disclosure.

FIG. 91 illustrates a bar graph depicting the number of patientsoperated on relative to the days of a week for different operatingrooms, in accordance with at least one aspect of the present disclosure.

FIG. 92 illustrates a bar graph depicting the total downtime betweenprocedures relative to the days of a week for a particular operatingroom, in accordance with at least one aspect of the present disclosure.

FIG. 93 illustrates a bar graph depicting the total downtime per day ofthe week depicted in FIG. 92 broken down according to each individualdowntime instance, in accordance with at least one aspect of the presentdisclosure.

FIG. 94 illustrates a bar graph depicting the average procedure lengthrelative to the days of a week for a particular operating room, inaccordance with at least one aspect of the present disclosure.

FIG. 95 illustrates a bar graph depicting procedure length relative toprocedure type, in accordance with at least one aspect of the presentdisclosure.

FIG. 96 illustrates a bar graph depicting the average completion timefor particular procedural steps for different types of thoracicprocedures, in accordance with at least one aspect of the presentdisclosure.

FIG. 97 illustrates a bar graph depicting procedure time relative toprocedure types, in accordance with at least one aspect of the presentdisclosure.

FIG. 98 illustrates a bar graph depicting operating room downtimerelative to the time of day, in accordance with at least one aspect ofthe present disclosure.

FIG. 99 illustrates a bar graph depicting operating room downtimerelative to the day of the week, in accordance with at least one aspectof the present disclosure.

FIG. 100 illustrates a pair of pie charts depicting the percentage oftime that the operating theater is utilized, in accordance with at leastone aspect of the present disclosure.

FIG. 101 illustrates a bar graph depicting consumed and unused surgicalitems relative to procedure type, in accordance with at least one aspectof the present disclosure.

FIG. 102 illustrates a logic flow diagram of a process for storing datafrom the modular devices and patient information database forcomparison, in accordance with at least one aspect of the presentdisclosure.

FIG. 103 illustrates a diagram of a distributed computing system, inaccordance with at least one aspect of the present disclosure.

FIG. 104 illustrates a logic flow diagram of a process for shiftingdistributed computing resources, in accordance with at least one aspectof the present disclosure.

FIG. 105 illustrates a diagram of an imaging system and a surgicalinstrument bearing a calibration scale, in accordance with at least oneaspect of the present disclosure.

FIG. 106 illustrates a diagram of a surgical instrument centered on alinear staple transection line using the benefit of centering tools andtechniques described in connection with FIGS. 107-119, in accordancewith at least one aspect of the present disclosure.

FIGS. 107-109 illustrate a process of aligning an anvil trocar of acircular stapler to a staple overlap portion of a linear staple linecreated by a double-stapling technique, in accordance with at least oneaspect of the present disclosure, where:

FIG. 107 illustrates an anvil trocar of a circular stapler that is notaligned with a staple overlap portion of a linear staple line created bya double-stapling technique;

FIG. 108 illustrates an anvil trocar of a circular stapler that isaligned with the center of the staple overlap portion of the linearstaple line created by a double-stapling technique; and

FIG. 109 illustrates a centering tool displayed on a surgical hubdisplay showing a staple overlap portion of a linear staple line createdby a double-stapling technique to be cut out by a circular stapler,where the anvil trocar is not aligned with the staple overlap portion ofthe double staple line as shown in FIG. 107.

FIGS. 110 and 111 illustrate a before image and an after image of acentering tool, in accordance with at least one aspect of the presentdisclosure, where:

FIG. 110 illustrates an image of a projected cut path of an anvil trocarand circular knife before alignment with the target alignment ringcircumscribing the image of the linear staple line over the image of thestaple overlap portion presented on a surgical hub display; and

FIG. 111 illustrates an image of a projected cut path of an anvil trocarand circular knife after alignment with the target alignment ringcircumscribing the image of the linear staple line over the image of thestaple overlap portion presented on a surgical hub display.

FIGS. 112-114 illustrate a process of aligning an anvil trocar of acircular stapler to a center of a linear staple line, in accordance withat least one aspect of the present disclosure, where:

FIG. 112 illustrates the anvil trocar out of alignment with the centerof the linear staple line;

FIG. 113 illustrates the anvil trocar in alignment with the center ofthe linear staple line; and

FIG. 114 illustrates a centering tool displayed on a surgical hubdisplay of a linear staple line, where the anvil trocar is not alignedwith the staple overlap portion of the double staple line as shown inFIG. 112.

FIG. 115 is an image of a standard reticle field view of a linear stapleline transection of a surgical as viewed through a laparoscope displayedon the surgical hub display, in accordance with at least one aspect ofthe present disclosure.

FIG. 116 is an image of a laser-assisted reticle field of view of thesurgical site shown in FIG. 115 before the anvil trocar and circularknife of the circular stapler are aligned to the center of the linearstaple line, in accordance with at least one aspect of the presentdisclosure.

FIG. 117 is an image of a laser-assisted reticle field of view of thesurgical site shown in FIG. 116 after the anvil trocar and circularknife of the circular stapler are aligned to the center of the linearstaple line, in accordance with at least one aspect of the presentdisclosure.

FIG. 118 illustrates a non-contact inductive sensor implementation of anon-contact sensor to determine an anvil trocar location relative to thecenter of a staple line transection, in accordance with at least oneaspect of the present disclosure.

FIGS. 119A and 119B illustrate one aspect of a non-contact capacitivesensor implementation of the non-contact sensor to determine an anviltrocar location relative to the center of a staple line transection, inaccordance with at least one aspect of the present disclosure, where:

FIG. 119A shows the non-contact capacitive sensor without a nearby metaltarget; and

FIG. 119B shows the non-contact capacitive sensor near a metal target.

FIG. 120 is a logic flow diagram of a process depicting a controlprogram or a logic configuration for aligning a surgical instrument, inaccordance with at least one aspect of the present disclosure.

FIG. 121 illustrates a primary display of the surgical hub comprising aglobal and local display, in accordance with at least one aspect of thepresent disclosure.

FIG. 122 illustrates a primary display of the surgical hub, inaccordance with at least one aspect of the present disclosure.

FIG. 123 illustrates a clamp stabilization sequence over a five secondperiod, in accordance with at least one aspect of the presentdisclosure.

FIG. 124 illustrates a diagram of four separate wide angle view imagesof a surgical site at four separate times during the procedure, inaccordance with at least one aspect of the present disclosure.

FIG. 125 is a graph of tissue creep clamp stabilization curves for twotissue types, in accordance with at least one aspect of the presentdisclosure.

FIG. 126 is a graph of time dependent proportionate fill of a clampforce stabilization curve, in accordance with at least one aspect of thepresent disclosure.

FIG. 127 is a graph of the role of tissue creep in the clamp forcestabilization curve, in accordance with at least one aspect of thepresent disclosure.

FIGS. 128A and 128B illustrate two graphs for determining when theclamped tissue has reached creep stability, in accordance with at leastone aspect of the present disclosure, where:

FIG. 128A illustrates a curve that represents a vector tangent angle d0as a function of time; and

FIG. 128B illustrates a curve that represents change in force-to-close(AFTC) as a function of time.

FIG. 129 illustrates an example of an augmented video image of apre-operative video image augmented with data identifying displayedelements, in accordance with at least one aspect of the presentdisclosure.

FIG. 130 is a logic flow diagram of a process depicting a controlprogram or a logic configuration to display images, in accordance withat least one aspect of the present disclosure.

FIG. 131 illustrates a communication system comprising an intermediatesignal combiner positioned in the communication path between an imagingmodule and a surgical hub display, in accordance with at least oneaspect of the present disclosure.

FIG. 132 illustrates an independent interactive headset worn by asurgeon to communicate data to the surgical hub, according to one aspectof the present disclosure.

FIG. 133 illustrates a method for controlling the usage of a device, inaccordance with at least one aspect of the present disclosure, inaccordance with at least one aspect of the present disclosure.

FIG. 134 illustrates a surgical system that includes a handle having acontroller and a motor, an adapter releasably coupled to the handle, anda loading unit releasably coupled to the adapter, in accordance with atleast one aspect of the present disclosure.

FIG. 135 illustrates a verbal Automated Endoscopic System for OptimalPositioning (AESOP) camera positioning system, in accordance with atleast one aspect of the present disclosure.

FIG. 136 illustrates a multi-functional surgical control system andswitching interface for virtual operating room integration, inaccordance with at least one aspect of the present disclosure.

FIG. 137 illustrates a diagram of a beam source and combined beamdetector system utilized as a device control mechanism in an operatingtheater, in accordance with at least one aspect of the presentdisclosure.

FIGS. 138A-E illustrate various types of sterile field control and datainput consoles, in accordance with at least one aspect of the presentdisclosure, where:

FIG. 138A illustrates a single zone sterile field control and data inputconsole;

FIG. 138B illustrates a multi zone sterile field control and data inputconsole;

FIG. 138C illustrates a tethered sterile field control and data inputconsole;

FIG. 138D illustrates a battery operated sterile field control and datainput console; and

FIG. 138E illustrates a battery operated sterile field control and datainput console.

FIGS. 139A-139B illustrate a sterile field console in use in a sterilefield during a surgical procedure, in accordance with at least oneaspect of the present disclosure, where:

FIG. 139A shows the sterile field console positioned in the sterilefield near two surgeons engaged in an operation; and

FIG. 139B shows one of the surgeons tapping the touchscreen of thesterile field console.

FIG. 140 illustrates a process for accepting consult feeds from anotheroperating room, in accordance with at least one aspect of the presentdisclosure.

FIG. 141 illustrates a standard technique for estimating vessel path anddepth and device trajectory, in accordance with at least one aspect ofthe present disclosure.

FIGS. 142A-142D illustrate multiple real time views of images of avirtual anatomical detail for dissection, in accordance with at leastone aspect of the present disclosure, where:

FIG. 142A is a perspective view of the virtual anatomical detail;

FIG. 142B is a side view of the virtual anatomical detail;

FIG. 142C is a perspective view of the virtual anatomical detail; and

FIG. 142D is a side view of the virtual anatomical detail.

FIGS. 143A-143E illustrate a touchscreen display that may be used withinthe sterile field, in accordance with at least one aspect of the presentdisclosure, where:

FIG. 143A illustrates an image of a surgical site displayed on atouchscreen display in portrait mode;

FIG. 143B shows the touchscreen display rotated in landscape mode andthe surgeon uses his index finger to scroll the image in the directionof the arrows;

FIG. 143C shows the surgeon using his index finger and thumb to pinchopen the image in the direction of the arrows to zoom in;

FIG. 143D shows the surgeon using his index finger and thumb to pinchclose the image in the direction of the arrows to zoom out; and

FIG. 143E shows the touchscreen display rotated in two directionsindicated by arrows to enable the surgeon to view the image in differentorientations.

FIG. 144 illustrates a surgical site employing a smart retractorcomprising a direct interface control to a surgical hub, in accordancewith at least one aspect of the present disclosure.

FIG. 145 illustrates a surgical site with a smart flexible stickerdisplay attached to the body of a patient, in accordance with at leastone aspect of the present disclosure.

FIG. 146 is a logic flow diagram of a process depicting a controlprogram or a logic configuration to communicate from inside a sterilefield to a device located outside the sterile field, in accordance withat least one aspect of the present disclosure.

FIG. 147 illustrates a system for performing surgery, in accordance withat least one aspect of the present disclosure.

FIG. 148 illustrates a second layer of information overlaying a firstlayer of information, in accordance with at least one aspect of thepresent disclosure.

FIG. 149 depicts a perspective view of a surgeon using a surgicalinstrument that includes a handle assembly housing and a wirelesscircuit board during a surgical procedure, with the surgeon wearing aset of safety glasses, in accordance with at least one aspect of thepresent disclosure.

FIG. 150 is a schematic diagram of a feedback control system forcontrolling a surgical instrument, in accordance with at least oneaspect of the present disclosure.

FIG. 151 illustrates a feedback controller that includes an on-screendisplay module and a heads up display (HUD) module, in accordance withat least one aspect of the present disclosure.

DESCRIPTION

Applicant of the present application owns the following U.S. PatentApplications, filed on Dec. 4, 2018, the disclosure of each of which isherein incorporated by reference in its entirety:

-   -   Attorney Docket No. END8495USNP1/170727-1M, titled METHOD OF HUB        COMMUNICATION;    -   Attorney Docket No. END8496USNP/170728M, titled METHOD OF CLOUD        BASED DATA ANALYTICS FOR USE WITH THE HUB;    -   Attorney Docket No. END8497USNP/170729M, titled METHOD OF        ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL;    -   Attorney Docket No. END8505USNP/170772M, titled METHOD OF HUB        COMMUNICATION, PROCESSING, DISPLAY, AND CLOUD ANALYTICS;    -   Attorney Docket No. END8538USNP/170751M, titled METHOD OF        COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY        DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS;    -   Attorney Docket No. END8539USNP/170752M, titled METHOD OF USING        REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLE SENSORS TO OPTIMIZE        PERFORMANCE OF RADIO FREQUENCY DEVICES;    -   Attorney Docket No. END8540USNP/170753M, titled METHOD OF        SENSING PARTICULATE FROM SMOKE EVACUATED FROM A PATIENT,        ADJUSTING THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND        COMMUNICATING THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE        HUB;    -   Attorney Docket No. END8541USNP/170754M, titled METHOD FOR SMOKE        EVACUATION FOR SURGICAL HUB;    -   Attorney Docket No. END8558USNP1/180138-1M, tided METHOD FOR        CONTROLLING SMART ENERGY DEVICES;    -   Attorney Docket No. END8559USNP1/180141-1M, titled METHOD FOR        SMART ENERGY DEVICE INFRASTRUCTURE;    -   Attorney Docket No. END9011USNP1/180510-1M, tided METHOD FOR        ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORK CONTROL AND        INTERACTION;    -   Attorney Docket No. END9015USNP1/180514-1M, tided METHOD FOR        SITUATIONAL AWARENESS FOR SURGICAL NETWORK OR SURGICAL NETWORK        CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON A SENSED        SITUATION OR USAGE;    -   Attorney Docket No. END9017USNP1/180516-1M, tided METHOD FOR        FACILITY DATA COLLECTION AND INTERPRETATION; and    -   Attorney Docket No. END9033USNP1/180520-1M, titled METHOD FOR        CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENT BASED ON        SITUATIONAL AWARENESS. Applicant of the present application owns        the following U.S. Patent Applications, filed on Nov. 6, 2018,        the disclosure of each of which is herein incorporated by        reference in its entirety:    -   U.S. Patent Application No. 16/182,224, titled SURGICAL NETWORK,        INSTRUMENT, AND CLOUD RESPONSES BASED ON VALIDATION OF RECEIVED        DATASET AND AUTHENTICATION OF ITS SOURCE AND INTEGRITY;    -   U.S. patent application Ser. No. 16/182,230, titled SURGICAL        SYS1EM FOR PRESENTING INFORMATION INTERPRETED FROM EXTERNAL        DATA;    -   U.S. patent application Ser. No. 16/182,233, titled SURGICAL        SYSTEMS WITH AUTONOMOUSLY ADJUSTABLE CONTROL PROGRAMS;    -   U.S. patent application Ser. No. 16/182,239, titled ADJUSTMENT        OF DEVICE CONTROL PROGRAMS BASED ON STRATIFIED CONTEXTUAL DATA        IN ADDITION TO THE DATA;    -   U.S. patent application Ser. No. 16/182,243, titled SURGICAL HUB        AND MODULAR DEVICE RESPONSE ADJUSTMENT BASED ON SITUATIONAL        AWARENESS;    -   U.S. patent application Ser. No. 16/182,248, titled DElECTION        AND ESCALATION OF SECURITY RESPONSES OF SURGICAL INSTRUMENTS TO        INCREASING SEVERITY THREATS;    -   U.S. patent application Ser. No. 16/182,251, titled IN lERACTIVE        SURGICAL SYS lEM;    -   U.S. patent application Ser. No. 16/182,260, titled AUTOMATED        DATA SCALING, ALIGNMENT, AND ORGANIZING BASED ON PREDEFINED        PARAMETERS WITHIN SURGICAL NETWORKS;    -   U.S. patent application Ser. No. 16/182,267, titled SENSING THE        PATIENT POSITION AND CONTACT UTILIZING THE MONO-POLAR RETURN PAD        ELECTRODE TO PROVIDE SITUATIONAL AWARENESS TO THE HUB;    -   U.S. patent application Ser. No. 16/182,249, titled POWERED        SURGICAL TOOL WITH PREDEFINED ADJUSTABLE CONTROL ALGORITHM FOR        CONTROLLING END EFFECTOR PARAMETER;    -   U.S. patent application Ser. No. 16/182,246, titled ADJUSTMENTS        BASED ON AIRBORNE PARTICLE PROPERTIES;    -   U.S. patent application Ser. No. 16/182,256, titled ADJUSTMENT        OF A SURGICAL DEVICE FUNCTION BASED ON SITUATIONAL AWARENESS;    -   U.S. patent application Ser. No. 16/182,242, titled REAL-TIME        ANALYSIS OF COMPREHENSIVE COST OF ALL INSTRUMENTATION USED IN        SURGERY UTILIZING DATA FLUIDITY TO TRACK INSTRUMENTS THROUGH        STOCKING AND IN-HOUSE PROCESSES;    -   U.S. patent application Ser. No. 16/182,255, titled USAGE AND        TECHNIQUE ANALYSIS OF SURGEON / STAFF PERFORMANCE AGAINST A        BASELINE TO OPTIMIZE DEVICE UTILIZATION AND PERFORMANCE FOR BOTH        CURRENT AND FUTURE PROCEDURES;    -   U.S. patent application Ser. No. 16/182,269, titled IMAGE        CAPTURING OF THE AREAS OUTSIDE THE ABDOMEN TO IMPROVE PLACEMENT        AND CONTROL OF A SURGICAL DEVICE IN USE;    -   U.S. patent application Ser. No. 16/182,278, titled        COMMUNICATION OF DATA WHERE A SURGICAL NETWORK IS USING CONTEXT        OF THE DATA AND REQUIREMENTS OF A RECEIVING SYSTEM/USER TO        INFLUENCE INCLUSION OR LINKAGE OF DATA AND METADATA TO ESTABLISH        CONTINUITY;    -   U.S. patent application Ser. No. 16/182,290, titled SURGICAL        NETWORK RECOMMENDATIONS FROM REAL TIME ANALYSIS OF PROCEDURE        VARIABLES AGAINST A BASELINE HIGHLIGHTING DIFFERENCES FROM THE        OPTIMAL SOLUTION;    -   U.S. Patent Application No. 16/182,232, titled CONTROL OF A        SURGICAL SYS lEM THROUGH A SURGICAL BARRIER;    -   U.S. patent application Ser. No. 16/182,227, titled SURGICAL        NETWORK DETERMINATION OF PRIORITIZATION OF COMMUNICATION,        INTERACTION, OR PROCESSING BASED ON SYSTEM OR DEVICE NEEDS;    -   U.S. patent application Ser. No. 16/182,231, titled WIRELESS        PAIRING OF A SURGICAL DEVICE WITH ANOTHER DEVICE WITHIN A        STERILE SURGICAL FIELD BASED ON THE USAGE AND SITUATIONAL        AWARENESS OF DEVICES;    -   U.S. patent application Ser. No. 16/182,229, titled ADJUSTMENT        OF STAPLE HEIGHT OF AT LEAST ONE ROW OF STAPLES BASED ON THE        SENSED TISSUE THICKNESS OR FORCE IN CLOSING;    -   U.S. patent application Ser. No. 16/182,234, titled STAPLING        DEVICE WITH BOTH COMPULSORY AND DISCRETIONARY LOCKOUTS BASED ON        SENSED PARAMETERS;    -   U.S. patent application Ser. No. 16/182,240, titled POWERED        STAPLING DEVICE CONFIGURED TO ADJUST FORCE, ADVANCEMENT SPEED,        AND OVERALL STROKE OF CUTTING MEMBER BASED ON SENSED PARAMETER        OF FIRING OR CLAMPING;    -   U.S. patent application Ser. No. 16/182,235, titled VARIATION OF        RADIO FREQUENCY AND ULTRASONIC POWER LEVEL IN COOPERATION WITH        VARYING CLAMP ARM PRESSURE TO ACHIEVE PREDEFINED HEAT FLUX OR        POWER APPLIED TO TISSUE; and    -   U.S. patent application Ser. No. 16/182,238, titled ULTRASONIC        ENERGY DEVICE WHICH VARIES PRESSURE APPLIED BY CLAMP ARM TO        PROVIDE THRESHOLD CONTROL PRESSURE AT A CUT PROGRESSION        LOCATION. Applicant of the present application owns the        following U.S. Patent Applications that were filed on Oct. 26,        2018, the disclosure of each of which is herein incorporated by        reference in its entirety:    -   U.S. patent application Ser. No. 16/172,303, titled METHOD FOR        OPERATING A POWERED ARTICULATING MULTI-CLIP APPLIER;    -   U.S. patent application Ser. No. 16/172,130, titled CLIP APPLIER        COMPRISING INTERCHANGEABLE CLIP RELOADS;    -   U.S. patent application Ser. No. 16/172,066, titled CLIP APPLIER        COMPRISING A MOVABLE CLIP MAGAZINE;    -   U.S. patent application Ser. No. 16/172,078, titled CLIP APPLIER        COMPRISING A ROTATABLE CLIP MAGAZINE;    -   U.S. patent application Ser. No. 16/172,087, titled CLIP APPLIER        COMPRISING CLIP ADVANCING SYSTEMS;    -   U.S. patent application Ser. No. 16/172,094, titled CLIP APPLIER        COMPRISING A CLIP CRIMPING SYSTEM;    -   U.S. patent application Ser. No. 16/172,128, titled CLIP APPLIER        COMPRISING A RECIPROCATING CLIP ADVANCING MEMBER;    -   U.S. patent application Ser. No. 16/172,168, titled CLIP APPLIER        COMPRISING A MOTOR CONTROLLER;    -   U.S. patent application Ser. No. 16/172,164, titled SURGICAL        SYSTEM COMPRISING A SURGICAL TOOL AND A SURGICAL HUB;    -   U.S. patent application Ser. No. 16/172,328, titled METHOD OF        HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS;    -   U.S. patent application Ser. No. 16/172,280, titled METHOD FOR        PRODUCING A SURGICAL INSTRUMENT COMPRISING A SMART ELECTRICAL        SYSTEM;    -   U.S. patent application Ser. No. 16/172,219, titled METHOD OF        HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS;    -   U.S. patent application Ser. No. 16/172,248, titled METHOD OF        HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS;    -   U.S. patent application Ser. No. 16/172,198, titled METHOD OF        HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS; and    -   U.S. patent application Ser. No. 16/172,155, titled METHOD OF        HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS. Applicant of        the present application owns the following U.S. Patent        Applications, filed on Aug. 28, 2018, the disclosure of each of        which is herein incorporated by reference in its entirety:    -   U.S. patent application Ser. No. 16/115,214, titled ESTIMATING        STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR;    -   U.S. patent application Ser. No. 16/115,205, titled TEMPERATURE        CONTROL OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR;    -   U.S. patent application Ser. No. 16/115,233, titled RADIO        FREQUENCY ENERGY DEVICE FOR DELIVERING COMBINED ELECTRICAL        SIGNALS;    -   U.S. patent application Ser. No. 16/115,208, titled CONTROLLING        AN ULTRASONIC SURGICAL INSTRUMENT ACCORDING TO TISSUE LOCATION;    -   U.S. patent application Ser. No. 16/115,220, titled CONTROLLING        ACTIVATION OF AN ULTRASONIC SURGICAL INSTRUMENT ACCORDING TO THE        PRESENCE OF TISSUE;    -   U.S. patent application Ser. No. 16/115,232, titled DETERMINING        TISSUE COMPOSITION VIA AN ULTRASONIC SYSTEM;    -   U.S. patent application Ser. No. 16/115,239, titled DETERMINING        THE STATE OF AN ULTRASONIC ELECTROMECHANICAL SYSTEM ACCORDING TO        FREQUENCY SHIFT;    -   U.S. patent application Ser. No. 16/115,247, titled DETERMINING        THE STATE OF AN ULTRASONIC END EFFECTOR;    -   U.S. patent application Ser. No. 16/115,211, titled SITUATIONAL        AWARENESS OF ELECTROSURGICAL SYSTEMS;    -   U.S. patent application Ser. No. 16/115,226, titled MECHANISMS        FOR CONTROLLING DIFFERENT ELECTROMECHANICAL SYSTEMS OF AN        ELECTROSURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/115,240, titled DETECTION OF        END EFFECTOR EMERSION IN LIQUID;    -   U.S. patent application Ser. No. 16/115,249, titled INTERRUPTION        OF ENERGY DUE TO INADVER lENT CAPACITIVE COUPLING;    -   U.S. patent application Ser. No. 16/115,256, titled INCREASING        RADIO FREQUENCY TO CREATE PAD-LESS MONOPOLAR LOOP;    -   U.S. patent application Ser. No. 16/115,223, titled BIPOLAR        COMBINATION DEVICE THAT AUTOMATICALLY ADJUSTS PRESSURE BASED ON        ENERGY MODALITY; and    -   U.S. patent application Ser. No. 16/115,238, titled ACTIVATION        OF ENERGY DEVICES. Applicant of the present application owns the        following U.S. Patent Applications, filed on Aug. 24, 2018, the        disclosure of each of which is herein incorporated by reference        in its entirety:    -   U.S. patent application Ser. No. 16/112,129, titled SURGICAL        SUTURING INSTRUMENT CONFIGURED TO MANIPULATE TISSUE USING        MECHANICAL AND ELECTRICAL POWER;    -   U.S. patent application Ser. No. 16/112,155, titled SURGICAL        SUTURING INSTRUMENT COMPRISING A CAPTURE WIDTH WHICH IS LARGER        THAN TROCAR DIAMETER;    -   U.S. patent application Ser. No. 16/112,168, titled SURGICAL        SUTURING INSTRUMENT COMPRISING A NON-CIRCULAR NEEDLE;    -   U.S. patent application Ser. No. 16/112,180, titled ELECTRICAL        POWER OUTPUT CONTROL BASED ON MECHANICAL FORCES;    -   U.S. patent application Ser. No. 16/112,193, titled REACTIVE        ALGORITHM FOR SURGICAL SYSTEM;    -   U.S. patent application Ser. No. 16/112,099, titled SURGICAL        INSTRUMENT COMPRISING AN ADAPTIVE ELECTRICAL SYSTEM;    -   U.S. patent application Ser. No. 16/112,112, titled CONTROL        SYSTEM ARRANGEMENTS FOR A MODULAR SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 16/112,119, titled ADAPTIVE        CONTROL PROGRAMS FOR A SURGICAL SYSTEM COMPRISING MORE THAN ONE        TYPE OF CARTRIDGE;    -   U.S. patent application Ser. No. 16/112,097, titled SURGICAL        INSTRUMENT SYSTEMS COMPRISING BATTERY ARRANGEMENTS;    -   U.S. patent application Ser. No. 16/112,109, titled SURGICAL        INSTRUMENT SYSTEMS COMPRISING HANDLE ARRANGEMENTS;    -   U.S. patent application Ser. No. 16/112,114, titled SURGICAL        INSTRUMENT SYSTEMS COMPRISING FEEDBACK MECHANISMS;    -   U.S. patent application Ser. No. 16/112,117, titled SURGICAL        INSTRUMENT SYSTEMS COMPRISING LOCKOUT MECHANISMS;    -   U.S. patent application Ser. No. 16/112,095, titled SURGICAL        INSTRUMENTS COMPRISING A LOCKABLE END EFFECTOR SOCKET;    -   U.S. patent application Ser. No. 16/112,121, titled SURGICAL        INSTRUMENTS COMPRISING A SHIFTING MECHANISM;    -   U.S. patent application Ser. No. 16/112,151, titled SURGICAL        INSTRUMENTS COMPRISING A SYSTEM FOR ARTICULATION AND ROTATION        COMPENSATION;    -   U.S. patent application Ser. No. 16/112,154, titled SURGICAL        INSTRUMENTS COMPRISING A BIASED SHIFTING MECHANISM;    -   U.S. patent application Ser. No. 16/112,226, titled SURGICAL        INSTRUMENTS COMPRISING AN ARTICULATION DRIVE THAT PROVIDES FOR        HIGH ARTICULATION ANGLES;    -   U.S. patent application Ser. No. 16/112,062, titled SURGICAL        DISSECTORS AND MANUFACTURING TECHNIQUES;    -   U.S. patent application Ser. No. 16/112,098, titled SURGICAL        DISSECTORS CONFIGURED TO APPLY MECHANICAL AND ELECTRICAL ENERGY;    -   U.S. patent application Ser. No. 16/112,237, titled SURGICAL        CLIP APPLIER CONFIGURED TO STORE CLIPS IN A STORED STATE;    -   U.S. patent application Ser. No. 16/112,245, titled SURGICAL        CLIP APPLIER COMPRISING AN EMPTY CLIP CARTRIDGE LOCKOUT;    -   U.S. patent application Ser. No. 16/112,249, titled SURGICAL        CLIP APPLIER COMPRISING AN AUTOMATIC CLIP FEEDING SYSTEM;    -   U.S. patent application Ser. No. 16/112,253, titled SURGICAL        CLIP APPLIER COMPRISING ADAPTIVE FIRING CONTROL; and    -   U.S. patent application Ser. No. 16/112,257, titled SURGICAL        CLIP APPLIER COMPRISING ADAPTIVE CONTROL IN RESPONSE TO A STRAIN        GAUGE CIRCUIT. Applicant of the present application owns the        following U.S. Patent Applications, filed on Jun. 29, 2018, the        disclosure of each of which is herein incorporated by reference        in its entirety:    -   U.S. patent application Ser. No. 16/024,090, titled CAPACITIVE        COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS;    -   U.S. patent application Ser. No. 16/024,057, titled CONTROLLING        A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS;    -   U.S. patent application Ser. No. 16/024,067, titled SYSTEMS FOR        ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE        INFORMATION;    -   U.S. patent application Ser. No. 16/024,075, titled SAFETY        SYSTEMS FOR SMART POWERED SURGICAL STAPLING;    -   U.S. patent application Ser. No. 16/024,083, titled SAFETY        SYSTEMS FOR SMART POWERED SURGICAL STAPLING;    -   U.S. patent application Ser. No. 16/024,094, titled SURGICAL        SYSTEMS FOR DETECTING END EFFECTOR TISSUE DISTRIBUTION        IRREGULARITIES;    -   U.S. patent application Ser. No. 16/024,138, titled SYSTEMS FOR        DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS        TISSUE;    -   U.S. patent application Ser. No. 16/024,150, titled SURGICAL        INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES;    -   U.S. patent application Ser. No. 16/024,160, titled VARIABLE        OUTPUT CARTRIDGE SENSOR ASSEMBLY;    -   U.S. patent application Ser. No. 16/024,124, titled SURGICAL        INSTRUMENT HAVING A FLEXIBLE ELECTRODE;    -   U.S. patent application Ser. No. 16/024,132, titled SURGICAL        INSTRUMENT HAVING A FLEXIBLE CIRCUIT;    -   U.S. patent application Ser. No. 16/024,141, titled SURGICAL        INSTRUMENT WITH A TISSUE MARKING ASSEMBLY;    -   U.S. patent application Ser. No. 16/024,162, titled SURGICAL        SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES;    -   U.S. patent application Ser. No. 16/024,066, titled SURGICAL        EVACUATION SENSING AND MOTOR CONTROL;    -   U.S. patent application Ser. No. 16/024,096, titled SURGICAL        EVACUATION SENSOR ARRANGEMENTS;    -   U.S. patent application Ser. No. 16/024,116, titled SURGICAL        EVACUATION FLOW PATHS;    -   U.S. patent application Ser. No. 16/024,149, titled SURGICAL        EVACUATION SENSING AND GENERATOR CONTROL;    -   U.S. patent application Ser. No. 16/024,180, titled SURGICAL        EVACUATION SENSING AND DISPLAY;    -   U.S. patent application Ser. No. 16/024,245, titled        COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR        CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL        PLATFORM;    -   U.S. patent application Ser. No. 16/024,258, titled SMOKE        EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR        INTERACTIVE SURGICAL PLATFORM;    -   U.S. patent application Ser. No. 16/024,265, titled SURGICAL        EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION        BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE; and    -   U.S. patent application Ser. No. 16/024,273, titled DUAL        IN-SERIES LARGE AND SMALL DROPLET FILTERS.

Applicant of the present application owns the following U.S. PatentApplications, filed on Mar. 29, 2018, the disclosure of each of which isherein incorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,641, titled INTERACTIVE        SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;    -   U.S. patent application Ser. No. 15/940,648, titled INTERACTIVE        SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA        CAPABILITIES;    -   U.S. patent application Ser. No. 15/940,656, titled SURGICAL HUB        COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM        DEVICES;    -   U.S. patent application Ser. No. 15/940,666, titled SPATIAL        AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS;    -   U.S. patent application Ser. No. 15/940,670, titled COOPERATIVE        UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY        INTELLIGENT SURGICAL HUBS;    -   U.S. patent application Ser. No. 15/940,677, titled SURGICAL HUB        CONTROL ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/940,632, titled DATA        STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE        ANONYMIZED RECORD;    -   U.S. patent application Ser. No. 15/940,640, titled        COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND        STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED        ANALYTICS SYSTEMS;    -   U.S. patent application Ser. No. 15/940,645, titled SELF        DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT;    -   U.S. patent application Ser. No. 15/940,649, titled DATA PAIRING        TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME;    -   U.S. patent application Ser. No. 15/940,654, titled SURGICAL HUB        SITUATIONAL AWARENESS;    -   U.S. patent application Ser. No. 15/940,663, titled SURGICAL        SYSTEM DISTRIBUTED PROCESSING;    -   U.S. patent application Ser. No. 15/940,668, titled AGGREGATION        AND REPORTING OF SURGICAL HUB DATA;    -   U.S. patent application Ser. No. 15/940,671, titled SURGICAL HUB        SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;    -   U.S. patent application Ser. No. 15/940,686, titled DISPLAY OF        ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE;    -   U.S. patent application Ser. No. 15/940,700, titled STERILE        FIELD INTERACTIVE CONTROL DISPLAYS;    -   U.S. patent application Ser. No. 15/940,629, titled COMPUTER        IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;    -   U.S. patent application Ser. No. 15/940,704, titled USE OF LASER        LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF        BACK SCATTERED LIGHT;    -   U.S. patent application Ser. No. 15/940,722, titled        CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF        MONO-CHROMATIC LIGHT REFRACTIVITY;    -   U.S. patent application Ser. No. 15/940,742, titled DUAL CMOS        ARRAY IMAGING;    -   U.S. patent application Ser. No. 15/940,636, titled ADAPTIVE        CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;    -   U.S. patent application Ser. No. 15/940,653, titled ADAPTIVE        CONTROL PROGRAM UPDATES FOR SURGICAL HUBS;    -   U.S. patent application Ser. No. 15/940,660, titled CLOUD-BASED        MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A        USER;    -   U.S. patent application Ser. No. 15/940,679, titled CLOUD-BASED        MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE        RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET;    -   U.S. patent application Ser. No. 15/940,694, titled CLOUD-BASED        MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED        INDIVIDUALIZATION OF INSTRUMENT FUNCTION;    -   U.S. patent application Ser. No. 15/940,634, titled CLOUD-BASED        MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND        REACTIVE MEASURES;    -   U.S. patent application Ser. No. 15/940,706, titled DATA        HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;    -   U.S. patent application Ser. No. 15/940,675, titled CLOUD        INTERFACE FOR COUPLED SURGICAL DEVICES;    -   U.S. patent application Ser. No. 15/940,627, titled DRIVE        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,637, titled        COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. patent application Ser. No. 15/940,642, titled CONTROLS FOR        ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,676, titled AUTOMATIC        TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,680, titled CONTROLLERS        FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,683, titled COOPERATIVE        SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;    -   U.S. patent application Ser. No. 15/940,690, titled DISPLAY        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and    -   U.S. patent application Ser. No. 15/940,711, titled SENSING        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS. Applicant of        the present application owns the following U.S. Provisional        Patent Applications, filed on Mar. 8, 2018, the disclosure of        each of which is herein incorporated by reference in its        entirety:    -   U.S. Provisional Patent Application No. 62/640,417, titled        TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM        THEREFOR; and    -   U.S. Provisional Patent Application No. 62/640,415, titled        ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM        THEREFOR.

Before explaining various aspects of surgical devices and generators indetail, it should be noted that the illustrative examples are notlimited in application or use to the details of construction andarrangement of parts illustrated in the accompanying drawings anddescription. The illustrative examples may be implemented orincorporated in other aspects, variations and modifications, and may bepracticed or carried out in various ways. Further, unless otherwiseindicated, the terms and expressions employed herein have been chosenfor the purpose of describing the illustrative examples for theconvenience of the reader and are not for the purpose of limitationthereof. Also, it will be appreciated that one or more of thefollowing-described aspects, expressions of aspects, and/or examples,can be combined with any one or more of the other following-describedaspects, expressions of aspects and/or examples.

Aspects of the present disclosure are presented for a comprehensivedigital medical system capable of spanning multiple medical facilitiesand configured to provide integrated and comprehensive improved medicalcare to a vast number of patients. The comprehensive digital medicalsystem includes a cloud-based medical analytics system that isconfigured to interconnect to multiple surgical hubs located across manydifferent medical facilities. The surgical hubs are configured tointerconnect with one or more surgical devices that are used to conductmedical procedures on patients. The surgical hubs provide a wide arrayof functionality to improve the outcomes of medical procedures. The datagenerated by the various surgical devices and medical hubs about thepatient and the medical procedure may be transmitted to the cloud-basedmedical analytics system. This data may then be aggregated with similardata gathered from many other surgical hubs and surgical devices locatedat other medical facilities. Various patterns and correlations may befound through the cloud-based analytics system analyzing the collecteddata. Improvements in the techniques used to generate the data may begenerated as a result, and these improvements may then be disseminatedto the various surgical hubs and surgical devices. Due to theinterconnectedness of all of the aforementioned components, improvementsin medical procedures and practices may be found that otherwise may notbe found if the many components were not so interconnected. Variousexamples of structures and functions of these various components will bedescribed in more detail in the following description.

Referring to FIG. 1, a computer-implemented interactive surgical system100 includes one or more surgical systems 102 and a cloud-based system(e.g., the cloud 104 that may include a remote server 113 coupled to astorage device 105). Each surgical system 102 includes at least onesurgical hub 106 in communication with the cloud 104 that may include aremote server 113. In one example, as illustrated in FIG. 1, thesurgical system 102 includes a visualization system 108, a roboticsystem 110, and a handheld intelligent surgical instrument 112, whichare configured to communicate with one another and/or the hub 106. Insome aspects, a surgical system 102 may include an M number of hubs 106,an N number of visualization systems 108, an O number of robotic systems110, and a P number of handheld intelligent surgical instruments 112,where M, N, O, and P are integers greater than or equal to one.

FIG. 3 depicts an example of a surgical system 102 being used to performa surgical procedure on a patient who is lying down on an operatingtable 114 in a surgical operating room 116. A robotic system 110 is usedin the surgical procedure as a part of the surgical system 102. Therobotic system 110 includes a surgeon's console 118, a patient side cart120 (surgical robot), and a surgical robotic hub 122. The patient sidecart 120 can manipulate at least one removably coupled surgical tool 117through a minimally invasive incision in the body of the patient whilethe surgeon views the surgical site through the surgeon's console 118.An image of the surgical site can be obtained by a medical imagingdevice 124, which can be manipulated by the patient side cart 120 toorient the imaging device 124. The robotic hub 122 can be used toprocess the images of the surgical site for subsequent display to thesurgeon through the surgeon's console 118.

Other types of robotic systems can be readily adapted for use with thesurgical system 102. Various examples of robotic systems and surgicaltools that are suitable for use with the present disclosure aredescribed in U.S. Provisional Patent Application Serial No. 62/611,339,titled ROBOT ASSIS1ED SURGICAL PLATFORM, filed December 28, 2017, thedisclosure of which is herein incorporated by reference in its entirety.

Various examples of cloud-based analytics that are performed by thecloud 104, and are suitable for use with the present disclosure, aredescribed in U.S. Provisional Patent Application Serial No. 62/611,340,titled CLOUD-BASED MEDICAL ANALYTICS, filed Dec. 28, 2017, thedisclosure of which is herein incorporated by reference in its entirety.

In various aspects, the imaging device 124 includes at least one imagesensor and one or more optical components. Suitable image sensorsinclude, but are not limited to, Charge-Coupled Device (CCD) sensors andComplementary Metal-Oxide Semiconductor (CMOS) sensors.

The optical components of the imaging device 124 may include one or moreillumination sources and/or one or more lenses. The one or moreillumination sources may be directed to illuminate portions of thesurgical field. The one or more image sensors may receive lightreflected or refracted from the surgical field, including lightreflected or refracted from tissue and/or surgical instruments.

The one or more illumination sources may be configured to radiateelectromagnetic energy in the visible spectrum as well as the invisiblespectrum. The visible spectrum, sometimes referred to as the opticalspectrum or luminous spectrum, is that portion of the electromagneticspectrum that is visible to (i.e., can be detected by) the human eye andmay be referred to as visible light or simply light. A typical human eyewill respond to wavelengths in air that are from about 380 nm to about750 nm.

The invisible spectrum (i.e., the non-luminous spectrum) is that portionof the electromagnetic spectrum that lies below and above the visiblespectrum (i.e., wavelengths below about 380 nm and above about 750 nm).The invisible spectrum is not detectable by the human eye. Wavelengthsgreater than about 750 nm are longer than the red visible spectrum, andthey become invisible infrared (IR), microwave, and radioelectromagnetic radiation. Wavelengths less than about 380 nm areshorter than the violet spectrum, and they become invisible ultraviolet,x-ray, and gamma ray electromagnetic radiation.

In various aspects, the imaging device 124 is configured for use in aminimally invasive procedure. Examples of imaging devices suitable foruse with the present disclosure include, but not limited to, anarthroscope, angioscope, bronchoscope, choledochoscope, colonoscope,cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope(gastroscope), endoscope, laryngoscope, nasopharyngo-neproscope,sigmoidoscope, thoracoscope, and ureteroscope.

In one aspect, the imaging device employs multi-spectrum monitoring todiscriminate topography and underlying structures. A multi-spectralimage is one that captures image data within specific wavelength rangesacross the electromagnetic spectrum. The wavelengths may be separated byfilters or by the use of instruments that are sensitive to particularwavelengths, including light from frequencies beyond the visible lightrange, e.g., IR and ultraviolet. Spectral imaging can allow extractionof additional information the human eye fails to capture with itsreceptors for red, green, and blue. The use of multi-spectral imaging isdescribed in greater detail under the heading “Advanced ImagingAcquisition Module” in U.S. Provisional Patent Application Ser. No.62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017,the disclosure of which is herein incorporated by reference in itsentirety. Multi-spectrum monitoring can be a useful tool in relocating asurgical field after a surgical task is completed to perform one or moreof the previously described tests on the treated tissue.

It is axiomatic that strict sterilization of the operating room andsurgical equipment is required during any surgery. The strict hygieneand sterilization conditions required in a “surgical theater,” i.e., anoperating or treatment room, necessitate the highest possible sterilityof all medical devices and equipment. Part of that sterilization processis the need to sterilize anything that comes in contact with the patientor penetrates the sterile field, including the imaging device 124 andits attachments and components. It will be appreciated that the sterilefield may be considered a specified area, such as within a tray or on asterile towel, that is considered free of microorganisms, or the sterilefield may be considered an area, immediately around a patient, who hasbeen prepared for a surgical procedure. The sterile field may includethe scrubbed team members, who are properly attired, and all furnitureand fixtures in the area.

In various aspects, the visualization system 108 includes one or moreimaging sensors, one or more image-processing units, one or more storagearrays, and one or more displays that are strategically arranged withrespect to the sterile field, as illustrated in FIG. 2. In one aspect,the visualization system 108 includes an interface for HL7, PACS, andEMR. Various components of the visualization system 108 are describedunder the heading “Advanced Imaging Acquisition Module” in U.S.Provisional Patent Application Serial No. 62/611,341, titled INTERACTIVESURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which isherein incorporated by reference in its entirety.

As illustrated in FIG. 2, a primary display 119 is positioned in thesterile field to be visible to an operator at the operating table 114.In addition, a visualization tower 111 is positioned outside the sterilefield. The visualization tower 111 includes a first non-sterile display107 and a second non-sterile display 109, which face away from eachother. The visualization system 108, guided by the hub 106, isconfigured to utilize the displays 107, 109, and 119 to coordinateinformation flow to operators inside and outside the sterile field. Forexample, the hub 106 may cause the visualization system 108 to display asnapshot of a surgical site, as recorded by an imaging device 124, on anon-sterile display 107 or 109, while maintaining a live feed of thesurgical site on the primary display 119. The snapshot on thenon-sterile display 107 or 109 can permit a non-sterile operator toperform a diagnostic step relevant to the surgical procedure, forexample.

In one aspect, the hub 106 is also configured to route a diagnosticinput or feedback entered by a non-sterile operator at the visualizationtower 111 to the primary display 119 within the sterile field, where itcan be viewed by a sterile operator at the operating table. In oneexample, the input can be in the form of a modification to the snapshotdisplayed on the non-sterile display 107 or 109, which can be routed tothe primary display 119 by the hub 106.

Referring to FIG. 2, a surgical instrument 112 is being used in thesurgical procedure as part of the surgical system 102. The hub 106 isalso configured to coordinate information flow to a display of thesurgical instrument 112. For example, in U.S. Provisional PatentApplication Serial No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM,filed Dec. 28, 2017, the disclosure of which is herein incorporated byreference in its entirety. A diagnostic input or feedback entered by anon-sterile operator at the visualization tower 111 can be routed by thehub 106 to the surgical instrument display 115 within the sterile field,where it can be viewed by the operator of the surgical instrument 112.Example surgical instruments that are suitable for use with the surgicalsystem 102 are described under the heading “Surgical InstrumentHardware” and in U.S. Provisional Patent Application Serial No.62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017,the disclosure of which is herein incorporated by reference in itsentirety, for example.

Referring now to FIG. 3, a hub 106 is depicted in communication with avisualization system 108, a robotic system 110, and a handheldintelligent surgical instrument 112. The hub 106 includes a hub display135, an imaging module 138, a generator module 140, a communicationmodule 130, a processor module 132, and a storage array 134. In certainaspects, as illustrated in FIG. 3, the hub 106 further includes a smokeevacuation module 126 and/or a suction/irrigation module 128.

During a surgical procedure, energy application to tissue, for sealingand/or cutting, is generally associated with smoke evacuation, suctionof excess fluid, and/or irrigation of the tissue. Fluid, power, and/ordata lines from different sources are often entangled during thesurgical procedure. Valuable time can be lost addressing this issueduring a surgical procedure. Detangling the lines may necessitatedisconnecting the lines from their respective modules, which may requireresetting the modules. The hub modular enclosure 136 offers a unifiedenvironment for managing the power, data, and fluid lines, which reducesthe frequency of entanglement between such lines.

Aspects of the present disclosure present a surgical hub for use in asurgical procedure that involves energy application to tissue at asurgical site. The surgical hub includes a hub enclosure and a combogenerator module slidably receivable in a docking station of the hubenclosure. The docking station includes data and power contacts. Thecombo generator module includes two or more of an ultrasonic energygenerator component, a bipolar RF energy generator component, and amonopolar RF energy generator component that are housed in a singleunit. In one aspect, the combo generator module also includes a smokeevacuation component, at least one energy delivery cable for connectingthe combo generator module to a surgical instrument, at least one smokeevacuation component configured to evacuate smoke, fluid, and/orparticulates generated by the application of therapeutic energy to thetissue, and a fluid line extending from the remote surgical site to thesmoke evacuation component.

In one aspect, the fluid line is a first fluid line and a second fluidline extends from the remote surgical site to a suction and irrigationmodule slidably received in the hub enclosure. In one aspect, the hubenclosure comprises a fluid interface.

Certain surgical procedures may require the application of more than oneenergy type to the tissue. One energy type may be more beneficial forcutting the tissue, while another different energy type may be morebeneficial for sealing the tissue. For example, a bipolar generator canbe used to seal the tissue while an ultrasonic generator can be used tocut the sealed tissue. Aspects of the present disclosure present asolution where a hub modular enclosure 136 is configured to accommodatedifferent generators, and facilitate an interactive communicationtherebetween. One of the advantages of the hub modular enclosure 136 isenabling the quick removal and/or replacement of various modules.

Aspects of the present disclosure present a modular surgical enclosurefor use in a surgical procedure that involves energy application totissue. The modular surgical enclosure includes a first energy-generatormodule, configured to generate a first energy for application to thetissue, and a first docking station comprising a first docking port thatincludes first data and power contacts, wherein the firstenergy-generator module is slidably movable into an electricalengagement with the power and data contacts and wherein the firstenergy-generator module is slidably movable out of the electricalengagement with the first power and data contacts,

Further to the above, the modular surgical enclosure also includes asecond energy-generator module configured to generate a second energy,different than the first energy, for application to the tissue, and asecond docking station comprising a second docking port that includessecond data and power contacts, wherein the second energy-generatormodule is slidably movable into an electrical engagement with the powerand data contacts, and wherein the second energy-generator module isslidably movable out of the electrical engagement with the second powerand data contacts.

In addition, the modular surgical enclosure also includes acommunication bus between the first docking port and the second dockingport, configured to facilitate communication between the firstenergy-generator module and the second energy-generator module.

Referring to FIGS. 3-7, aspects of the present disclosure are presentedfor a hub modular enclosure 136 that allows the modular integration of agenerator module 140, a smoke evacuation module 126, and asuction/irrigation module 128. The hub modular enclosure 136 furtherfacilitates interactive communication between the modules 140, 126, 128.As illustrated in FIG. 5, the generator module 140 can be a generatormodule with integrated monopolar, bipolar, and ultrasonic componentssupported in a single housing unit 139 slidably insertable into the hubmodular enclosure 136. As illustrated in FIG. 5, the generator module140 can be configured to connect to a monopolar device 146, a bipolardevice 147, and an ultrasonic device 148. Alternatively, the generatormodule 140 may comprise a series of monopolar, bipolar, and/orultrasonic generator modules that interact through the hub modularenclosure 136. The hub modular enclosure 136 can be configured tofacilitate the insertion of multiple generators and interactivecommunication between the generators docked into the hub modularenclosure 136 so that the generators would act as a single generator.

In one aspect, the hub modular enclosure 136 comprises a modular powerand communication backplane 149 with external and wireless communicationheaders to enable the removable attachment of the modules 140, 126, 128and interactive communication therebetween.

In one aspect, the hub modular enclosure 136 includes docking stations,or drawers, 151, herein also referred to as drawers, which areconfigured to slidably receive the modules 140, 126, 128. FIG. 4illustrates a partial perspective view of a surgical hub enclosure 136,and a combo generator module 145 slidably receivable in a dockingstation 151 of the surgical hub enclosure 136. A docking port 152 withpower and data contacts on a rear side of the combo generator module 145is configured to engage a corresponding docking port 150 with power anddata contacts of a corresponding docking station 151 of the hub modularenclosure 136 as the combo generator module 145 is slid into positionwithin the corresponding docking station 151 of the hub module enclosure136. In one aspect, the combo generator module 145 includes a bipolar,ultrasonic, and monopolar module and a smoke evacuation moduleintegrated together into a single housing unit 139, as illustrated inFIG. 5.

In various aspects, the smoke evacuation module 126 includes a fluidline 154 that conveys captured/collected smoke and/or fluid away from asurgical site and to, for example, the smoke evacuation module 126.Vacuum suction originating from the smoke evacuation module 126 can drawthe smoke into an opening of a utility conduit at the surgical site. Theutility conduit, coupled to the fluid line, can be in the form of aflexible tube terminating at the smoke evacuation module 126. Theutility conduit and the fluid line define a fluid path extending towardthe smoke evacuation module 126 that is received in the hub enclosure136.

In various aspects, the suction/irrigation module 128 is coupled to asurgical tool comprising an aspiration fluid line and a suction fluidline. In one example, the aspiration and suction fluid lines are in theform of flexible tubes extending from the surgical site toward thesuction/irrigation module 128. One or more drive systems can beconfigured to cause irrigation and aspiration of fluids to and from thesurgical site.

In one aspect, the surgical tool includes a shaft having an end effectorat a distal end thereof and at least one energy treatment associatedwith the end effector, an aspiration tube, and an irrigation tube. Theaspiration tube can have an inlet port at a distal end thereof and theaspiration tube extends through the shaft. Similarly, an irrigation tubecan extend through the shaft and can have an inlet port in proximity tothe energy deliver implement. The energy deliver implement is configuredto deliver ultrasonic and/or RF energy to the surgical site and iscoupled to the generator module 140 by a cable extending initiallythrough the shaft.

The irrigation tube can be in fluid communication with a fluid source,and the aspiration tube can be in fluid communication with a vacuumsource. The fluid source and/or the vacuum source can be housed in thesuction/irrigation module 128. In one example, the fluid source and/orthe vacuum source can be housed in the hub enclosure 136 separately fromthe suction/irrigation module 128. In such example, a fluid interfacecan be configured to connect the suction/irrigation module 128 to thefluid source and/or the vacuum source.

In one aspect, the modules 140, 126, 128 and/or their correspondingdocking stations on the hub modular enclosure 136 may include alignmentfeatures that are configured to align the docking ports of the modulesinto engagement with their counterparts in the docking stations of thehub modular enclosure 136. For example, as illustrated in FIG. 4, thecombo generator module 145 includes side brackets 155 that areconfigured to slidably engage with corresponding brackets 156 of thecorresponding docking station 151 of the hub modular enclosure 136. Thebrackets cooperate to guide the docking port contacts of the combogenerator module 145 into an electrical engagement with the docking portcontacts of the hub modular enclosure 136.

In some aspects, the drawers 151 of the hub modular enclosure 136 arethe same, or substantially the same size, and the modules are adjustedin size to be received in the drawers 151. For example, the sidebrackets 155 and/or 156 can be larger or smaller depending on the sizeof the module. In other aspects, the drawers 151 are different in sizeand are each designed to accommodate a particular module.

Furthermore, the contacts of a particular module can be keyed forengagement with the contacts of a particular drawer to avoid inserting amodule into a drawer with mismatching contacts.

As illustrated in FIG. 4, the docking port 150 of one drawer 151 can becoupled to the docking port 150 of another drawer 151 through acommunications link 157 to facilitate an interactive communicationbetween the modules housed in the hub modular enclosure 136. The dockingports 150 of the hub modular enclosure 136 may alternatively, oradditionally, facilitate a wireless interactive communication betweenthe modules housed in the hub modular enclosure 136. Any suitablewireless communication can be employed, such as for example AirTitan-Bluetooth.

FIG. 6 illustrates individual power bus attachments for a plurality oflateral docking ports of a lateral modular housing 160 configured toreceive a plurality of modules of a surgical hub 206. The lateralmodular housing 160 is configured to laterally receive and interconnectthe modules 161. The modules 161 are slidably inserted into dockingstations 162 of lateral modular housing 160, which includes a backplanefor interconnecting the modules 161. As illustrated in FIG. 6, themodules 161 are arranged laterally in the lateral modular housing 160.Alternatively, the modules 161 may be arranged vertically in a lateralmodular housing.

FIG. 7 illustrates a vertical modular housing 164 configured to receivea plurality of modules 165 of the surgical hub 106. The modules 165 areslidably inserted into docking stations, or drawers, 167 of verticalmodular housing 164, which includes a backplane for interconnecting themodules 165. Although the drawers 167 of the vertical modular housing164 are arranged vertically, in certain instances, a vertical modularhousing 164 may include drawers that are arranged laterally.Furthermore, the modules 165 may interact with one another through thedocking ports of the vertical modular housing 164. In the example ofFIG. 7, a display 177 is provided for displaying data relevant to theoperation of the modules 165. In addition, the vertical modular housing164 includes a master module 178 housing a plurality of sub-modules thatare slidably received in the master module 178.

In various aspects, the imaging module 138 comprises an integrated videoprocessor and a modular light source and is adapted for use with variousimaging devices. In one aspect, the imaging device is comprised of amodular housing that can be assembled with a light source module and acamera module. The housing can be a disposable housing. In at least oneexample, the disposable housing is removably coupled to a reusablecontroller, a light source module, and a camera module. The light sourcemodule and/or the camera module can be selectively chosen depending onthe type of surgical procedure. In one aspect, the camera modulecomprises a CCD sensor. In another aspect, the camera module comprises aCMOS sensor. In another aspect, the camera module is configured forscanned beam imaging. Likewise, the light source module can beconfigured to deliver a white light or a different light, depending onthe surgical procedure.

During a surgical procedure, removing a surgical device from thesurgical field and replacing it with another surgical device thatincludes a different camera or a different light source can beinefficient. Temporarily losing sight of the surgical field may lead toundesirable consequences. The module imaging device of the presentdisclosure is configured to permit the replacement of a light sourcemodule or a camera module midstream during a surgical procedure, withouthaving to remove the imaging device from the surgical field.

In one aspect, the imaging device comprises a tubular housing thatincludes a plurality of channels. A first channel is configured toslidably receive the camera module, which can be configured for asnap-fit engagement with the first channel. A second channel isconfigured to slidably receive the light source module, which can beconfigured for a snap-fit engagement with the second channel. In anotherexample, the camera module and/or the light source module can be rotatedinto a final position within their respective channels. A threadedengagement can be employed in lieu of the snap-fit engagement.

In various examples, multiple imaging devices are placed at differentpositions in the surgical field to provide multiple views. The imagingmodule 138 can be configured to switch between the imaging devices toprovide an optimal view. In various aspects, the imaging module 138 canbe configured to integrate the images from the different imaging device.

Various image processors and imaging devices suitable for use with thepresent disclosure are described in U.S. Patent No. 7,995,045, titledCOMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, which issued on Aug. 9,2011, which is herein incorporated by reference in its entirety. Inaddition, U.S. Pat. No. 7,982,776, titled SBI MOTION ARTIFACT REMOVALAPPARATUS AND METHOD, which issued on Jul. 19, 2011, which is hereinincorporated by reference in its entirety, describes various systems forremoving motion artifacts from image data. Such systems can beintegrated with the imaging module 138. Furthermore, U.S. PatentApplication Publication No. 2011/0306840, titled CONTROLLABLE MAGNETICSOURCE TO FIXTURE INTRACORPOREAL APPARATUS, which published on Dec. 15,2011, and U.S. Patent Application Publication No. 2014/0243597, titledSYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, whichpublished on Aug. 28, 2014, each of which is herein incorporated byreference in its entirety.

FIG. 8 illustrates a surgical data network 201 comprising a modularcommunication hub 203 configured to connect modular devices located inone or more operating theaters of a healthcare facility, or any room ina healthcare facility specially equipped for surgical operations, to acloud-based system (e.g., the cloud 204 that may include a remote server213 coupled to a storage device 205). In one aspect, the modularcommunication hub 203 comprises a network hub 207 and/or a networkswitch 209 in communication with a network router. The modularcommunication hub 203 also can be coupled to a local computer system 210to provide local computer processing and data manipulation. The surgicaldata network 201 may be configured as passive, intelligent, orswitching. A passive surgical data network serves as a conduit for thedata, enabling it to go from one device (or segment) to another and tothe cloud computing resources. An intelligent surgical data networkincludes additional features to enable the traffic passing through thesurgical data network to be monitored and to configure each port in thenetwork hub 207 or network switch 209. An intelligent surgical datanetwork may be referred to as a manageable hub or switch. A switchinghub reads the destination address of each packet and then forwards thepacket to the correct port.

Modular devices 1 a-1 n located in the operating theater may be coupledto the modular communication hub 203. The network hub 207 and/or thenetwork switch 209 may be coupled to a network router 211 to connect thedevices 1 a-1 n to the cloud 204 or the local computer system 210. Dataassociated with the devices la-ln may be transferred to cloud-basedcomputers via the router for remote data processing and manipulation.Data associated with the devices 1 a-1 n may also be transferred to thelocal computer system 210 for local data processing and manipulation.Modular devices 2 a-2 m located in the same operating theater also maybe coupled to a network switch 209. The network switch 209 may becoupled to the network hub 207 and/or the network router 211 to connectto the devices 2 a-2 m to the cloud 204. Data associated with thedevices 2 a-2n may be transferred to the cloud 204 via the networkrouter 211 for data processing and manipulation. Data associated withthe devices 2 a-2 m may also be transferred to the local computer system210 for local data processing and manipulation.

It will be appreciated that the surgical data network 201 may beexpanded by interconnecting multiple network hubs 207 and/or multiplenetwork switches 209 with multiple network routers 211. The modularcommunication hub 203 may be contained in a modular control towerconfigured to receive multiple devices 1 a-1 n/2 a-2 m. The localcomputer system 210 also may be contained in a modular control tower.The modular communication hub 203 is connected to a display 212 todisplay images obtained by some of the devices 1 a-1 n/2 a-2 m, forexample during surgical procedures. In various aspects, the devices 1a-1 n/2 a-2 m may include, for example, various modules such as animaging module 138 coupled to an endoscope, a generator module 140coupled to an energy-based surgical device, a smoke evacuation module126, a suction/irrigation module 128, a communication module 130, aprocessor module 132, a storage array 134, a surgical device coupled toa display, and/or a non-contact sensor module, among other modulardevices that may be connected to the modular communication hub 203 ofthe surgical data network 201.

In one aspect, the surgical data network 201 may comprise a combinationof network hub(s), network switch(es), and network router(s) connectingthe devices 1 a-1 n/2 a-2 m to the cloud. Any one of or all of thedevices 1 a-1 n/2 a-2 m coupled to the network hub or network switch maycollect data in real time and transfer the data to cloud computers fordata processing and manipulation. It will be appreciated that cloudcomputing relies on sharing computing resources rather than having localservers or personal devices to handle software applications. The word“cloud” may be used as a metaphor for “the Internet,” although the termis not limited as such. Accordingly, the term “cloud computing” may beused herein to refer to “a type of Internet-based computing,” wheredifferent services—such as servers, storage, and applications—aredelivered to the modular communication hub 203 and/or computer system210 located in the surgical theater (e.g., a fixed, mobile, temporary,or field operating room or space) and to devices connected to themodular communication hub 203 and/or computer system 210 through theInternet. The cloud infrastructure may be maintained by a cloud serviceprovider. In this context, the cloud service provider may be the entitythat coordinates the usage and control of the devices 1 a-1 n/2 a-2 mlocated in one or more operating theaters. The cloud computing servicescan perform a large number of calculations based on the data gathered bysmart surgical instruments, robots, and other computerized deviceslocated in the operating theater. The hub hardware enables multipledevices or connections to be connected to a computer that communicateswith the cloud computing resources and storage.

Applying cloud computer data processing techniques on the data collectedby the devices 1 a-1 n/2 a-2 m, the surgical data network providesimproved surgical outcomes, reduced costs, and improved patientsatisfaction. At least some of the devices 1 a-1 n/2 a-2 m may beemployed to view tissue states to assess leaks or perfusion of sealedtissue after a tissue sealing and cutting procedure. At least some ofthe devices 1 a-1 n/2 a-2 m may be employed to identify pathology, suchas the effects of diseases, using the cloud-based computing to examinedata including images of samples of body tissue for diagnostic purposes.This includes localization and margin confirmation of tissue andphenotypes. At least some of the devices 1 a-1 n/2 a-2 m may be employedto identify anatomical structures of the body using a variety of sensorsintegrated with imaging devices and techniques such as overlaying imagescaptured by multiple imaging devices. The data gathered by the devices 1a-1 n/2 a-2 m, including image data, may be transferred to the cloud 204or the local computer system 210 or both for data processing andmanipulation including image processing and manipulation. The data maybe analyzed to improve surgical procedure outcomes by determining iffurther treatment, such as the application of endoscopic intervention,emerging technologies, a targeted radiation, targeted intervention, andprecise robotics to tissue-specific sites and conditions, may bepursued. Such data analysis may further employ outcome analyticsprocessing, and using standardized approaches may provide beneficialfeedback to either confirm surgical treatments and the behavior of thesurgeon or suggest modifications to surgical treatments and the behaviorof the surgeon.

In one implementation, the operating theater devices la-ln may beconnected to the modular communication hub 203 over a wired channel or awireless channel depending on the configuration of the devices la-ln toa network hub. The network hub 207 may be implemented, in one aspect, asa local network broadcast device that works on the physical layer of theOpen System Interconnection (OSI) model. The network hub providesconnectivity to the devices la-ln located in the same operating theaternetwork. The network hub 207 collects data in the form of packets andsends them to the router in half duplex mode. The network hub 207 doesnot store any media access control/Internet Protocol (MAC/IP) totransfer the device data. Only one of the devices la-ln can send data ata time through the network hub 207. The network hub 207 has no routingtables or intelligence regarding where to send information andbroadcasts all network data across each connection and to a remoteserver 213 (FIG. 9) over the cloud 204. The network hub 207 can detectbasic network errors such as collisions, but having all informationbroadcast to multiple ports can be a security risk and causebottlenecks.

In another implementation, the operating theater devices 2 a-2 m may beconnected to a network switch 209 over a wired channel or a wirelesschannel. The network switch 209 works in the data link layer of the OSImodel. The network switch 209 is a multicast device for connecting thedevices 2 a-2 m located in the same operating theater to the network.The network switch 209 sends data in the form of frames to the networkrouter 211 and works in full duplex mode. Multiple devices 2 a-2 m cansend data at the same time through the network switch 209. The networkswitch 209 stores and uses MAC addresses of the devices 2 a-2 m totransfer data.

The network hub 207 and/or the network switch 209 are coupled to thenetwork router 211 for connection to the cloud 204. The network router211 works in the network layer of the OSI model. The network router 211creates a route for transmitting data packets received from the networkhub 207 and/or network switch 211 to cloud-based computer resources forfurther processing and manipulation of the data collected by any one ofor all the devices 1 a-1 n/2 a-2 m. The network router 211 may beemployed to connect two or more different networks located in differentlocations, such as, for example, different operating theaters of thesame healthcare facility or different networks located in differentoperating theaters of different healthcare facilities. The networkrouter 211 sends data in the form of packets to the cloud 204 and worksin full duplex mode. Multiple devices can send data at the same time.The network router 211 uses IP addresses to transfer data.

In one example, the network hub 207 may be implemented as a USB hub,which allows multiple USB devices to be connected to a host computer.The USB hub may expand a single USB port into several tiers so thatthere are more ports available to connect devices to the host systemcomputer. The network hub 207 may include wired or wireless capabilitiesto receive information over a wired channel or a wireless channel. Inone aspect, a wireless USB short-range, high-bandwidth wireless radiocommunication protocol may be employed for communication between thedevices la-ln and devices 2 a-2 m located in the operating theater.

In other examples, the operating theater devices 1 a-1 n/2 a-2 m maycommunicate to the modular communication hub 203 via Bluetooth wirelesstechnology standard for exchanging data over short distances (usingshort-wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz)from fixed and mobile devices and building personal area networks(PANs). In other aspects, the operating theater devices 1 a-1 n/2 a-2 mmay communicate to the modular communication hub 203 via a number ofwireless or wired communication standards or protocols, including butnot limited to Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family),IEEE 802.20, long-term evolution (LIE), and Ev-DO, HSPA+, HSDPA+,HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivativesthereof, as well as any other wireless and wired protocols that aredesignated as 3G, 4G, 5G, and beyond. The computing module may include aplurality of communication modules. For instance, a first communicationmodule may be dedicated to shorter-range wireless communications such asWi-Fi and Bluetooth, and a second communication module may be dedicatedto longer-range wireless communications such as GPS, EDGE, GPRS, CDMA,WiMAX, LTE, Ev-DO, and others.

The modular communication hub 203 may serve as a central connection forone or all of the operating theater devices 1 a-1 n/2 a-2 m and handlesa data type known as frames. Frames carry the data generated by thedevices 1 a-1 n/2 a-2 m. When a frame is received by the modularcommunication hub 203, it is amplified and transmitted to the networkrouter 211, which transfers the data to the cloud computing resources byusing a number of wireless or wired communication standards orprotocols, as described herein.

The modular communication hub 203 can be used as a standalone device orbe connected to compatible network hubs and network switches to form alarger network. The modular communication hub 203 is generally easy toinstall, configure, and maintain, making it a good option for networkingthe operating theater devices 1 a-1 n/2 a-2 m.

FIG. 9 illustrates a computer-implemented interactive surgical system200. The computer-implemented interactive surgical system 200 is similarin many respects to the computer-implemented interactive surgical system100. For example, the computer-implemented interactive surgical system200 includes one or more surgical systems 202, which are similar in manyrespects to the surgical systems 102. Each surgical system 202 includesat least one surgical hub 206 in communication with a cloud 204 that mayinclude a remote server 213. In one aspect, the computer-implementedinteractive surgical system 200 comprises a modular control tower 236connected to multiple operating theater devices such as, for example,intelligent surgical instruments, robots, and other computerized deviceslocated in the operating theater. As shown in FIG. 10, the modularcontrol tower 236 comprises a modular communication hub 203 coupled to acomputer system 210. As illustrated in the example of FIG. 9, themodular control tower 236 is coupled to an imaging module 238 that iscoupled to an endoscope 239, a generator module 240 that is coupled toan energy device 241, a smoke evacuator module 226, a suction/irrigationmodule 228, a communication module 230, a processor module 232, astorage array 234, a smart device/instrument 235 optionally coupled to adisplay 237, and a non-contact sensor module 242. The operating theaterdevices are coupled to cloud computing resources and data storage viathe modular control tower 236. A robot hub 222 also may be connected tothe modular control tower 236 and to the cloud computing resources. Thedevices/instruments 235, visualization systems 208, among others, may becoupled to the modular control tower 236 via wired or wirelesscommunication standards or protocols, as described herein. The modularcontrol tower 236 may be coupled to a hub display 215 (e.g., monitor,screen) to display and overlay images received from the imaging module,device/instrument display, and/or other visualization systems 208. Thehub display also may display data received from devices connected to themodular control tower in conjunction with images and overlaid images.

FIG. 10 illustrates a surgical hub 206 comprising a plurality of modulescoupled to the modular control tower 236. The modular control tower 236comprises a modular communication hub 203, e.g., a network connectivitydevice, and a computer system 210 to provide local processing,visualization, and imaging, for example. As shown in FIG. 10, themodular communication hub 203 may be connected in a tiered configurationto expand the number of modules (e.g., devices) that may be connected tothe modular communication hub 203 and transfer data associated with themodules to the computer system 210, cloud computing resources, or both.As shown in FIG. 10, each of the network hubs/switches in the modularcommunication hub 203 includes three downstream ports and one upstreamport. The upstream network hub/switch is connected to a processor toprovide a communication connection to the cloud computing resources anda local display 217. Communication to the cloud 204 may be made eitherthrough a wired or a wireless communication channel.

The surgical hub 206 employs a non-contact sensor module 242 to measurethe dimensions of the operating theater and generate a map of thesurgical theater using either ultrasonic or laser-type non-contactmeasurement devices. An ultrasound-based non-contact sensor module scansthe operating theater by transmitting a burst of ultrasound andreceiving the echo when it bounces off the perimeter walls of anoperating theater as described under the heading “Surgical Hub SpatialAwareness Within an Operating Room” in U.S. Provisional PatentApplication Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM,filed Dec. 28, 2017, which is herein incorporated by reference in itsentirety, in which the sensor module is configured to determine the sizeof the operating theater and to adjust Bluetooth-pairing distancelimits. A laser-based non-contact sensor module scans the operatingtheater by transmitting laser light pulses, receiving laser light pulsesthat bounce off the perimeter walls of the operating theater, andcomparing the phase of the transmitted pulse to the received pulse todetermine the size of the operating theater and to adjust Bluetoothpairing distance limits, for example.

The computer system 210 comprises a processor 244 and a networkinterface 245. The processor 244 is coupled to a communication module247, storage 248, memory 249, non-volatile memory 250, and input/outputinterface 251 via a system bus. The system bus can be any of severaltypes of bus structure(s) including the memory bus or memory controller,a peripheral bus or external bus, and/or a local bus using any varietyof available bus architectures including, but not limited to, 9-bit bus,Industrial Standard Architecture (ISA), Micro-Charmel Architecture(MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESALocal Bus (VLB), Peripheral Component Interconnect (PCI), USB, AdvancedGraphics Port (AGP), Personal Computer Memory Card InternationalAssociation bus (PCMCIA), Small Computer Systems Interface (SCSI), orany other proprietary bus.

The processor 244 may be any single-core or multicore processor such asthose known under the trade name ARM Cortex by Texas Instruments. In oneaspect, the processor may be an LM4F230H5QR ARM Cortex-M4F ProcessorCore, available from Texas Instruments, for example, comprising anon-chip memory of 256 KB single-cycle flash memory, or othernon-volatile memory, up to 40 MHz, a prefetch buffer to improveperformance above 40 MHz, a 32 KB single-cycle serial random accessmemory (SRAM), an internal read-only memory (ROM) loaded withStellarisWare® software, a 2 KB electrically erasable programmableread-only memory (EEPROM), and/or one or more pulse width modulation(PWM) modules, one or more quadrature encoder inputs (QEI) analogs, oneor more 12-bit analog-to-digital converters (ADCs) with 12 analog inputchannels, details of which are available for the product datasheet.

In one aspect, the processor 244 may comprise a safety controllercomprising two controller-based families such as TMS570 and RM4x, knownunder the trade name Hercules ARM Cortex R4, also by Texas Instruments.The safety controller may be configured specifically for IEC 61508 andISO 26262 safety critical applications, among others, to provideadvanced integrated safety features while delivering scalableperformance, connectivity, and memory options.

The system memory includes volatile memory and non-volatile memory. Thebasic input/output system (BIOS), containing the basic routines totransfer information between elements within the computer system, suchas during start-up, is stored in non-volatile memory. For example, thenon-volatile memory can include ROM, programmable ROM (PROM),electrically programmable ROM (EPROM), EEPROM, or flash memory. Volatilememory includes random-access memory (RAM), which acts as external cachememory. Moreover, RAM is available in many forms such as SRAM, dynamicRAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and directRambus RAM (DRRAM).

The computer system 210 also includes removable/non-removable,volatile/non-volatile computer storage media, such as for example diskstorage. The disk storage includes, but is not limited to, devices likea magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zipdrive, LS-60 drive, flash memory card, or memory stick. In addition, thedisk storage can include storage media separately or in combination withother storage media including, but not limited to, an optical disc drivesuch as a compact disc ROM device (CD-ROM), compact disc recordabledrive (CD-R Drive), compact disc rewritable drive (CD-RW Drive), or adigital versatile disc ROM drive (DVD-ROM). To facilitate the connectionof the disk storage devices to the system bus, a removable ornon-removable interface may be employed.

It is to be appreciated that the computer system 210 includes softwarethat acts as an intermediary between users and the basic computerresources described in a suitable operating environment. Such softwareincludes an operating system. The operating system, which can be storedon the disk storage, acts to control and allocate resources of thecomputer system. System applications take advantage of the management ofresources by the operating system through program modules and programdata stored either in the system memory or on the disk storage. It is tobe appreciated that various components described herein can beimplemented with various operating systems or combinations of operatingsystems.

A user enters commands or information into the computer system 210through input device(s) coupled to the I/O interface 251. The inputdevices include, but are not limited to, a pointing device such as amouse, trackball, stylus, touch pad, keyboard, microphone, joystick,game pad, satellite dish, scanner, TV tuner card, digital camera,digital video camera, web camera, and the like. These and other inputdevices connect to the processor through the system bus via interfaceport(s). The interface port(s) include, for example, a serial port, aparallel port, a game port, and a USB. The output device(s) use some ofthe same types of ports as input device(s). Thus, for example, a USBport may be used to provide input to the computer system and to outputinformation from the computer system to an output device. An outputadapter is provided to illustrate that there are some output deviceslike monitors, displays, speakers, and printers, among other outputdevices that require special adapters. The output adapters include, byway of illustration and not limitation, video and sound cards thatprovide a means of connection between the output device and the systembus. It should be noted that other devices and/or systems of devices,such as remote computer(s), provide both input and output capabilities.

The computer system 210 can operate in a networked environment usinglogical connections to one or more remote computers, such as cloudcomputer(s), or local computers. The remote cloud computer(s) can be apersonal computer, server, router, network PC, workstation,microprocessor-based appliance, peer device, or other common networknode, and the like, and typically includes many or all of the elementsdescribed relative to the computer system. For purposes of brevity, onlya memory storage device is illustrated with the remote computer(s). Theremote computer(s) is logically connected to the computer system througha network interface and then physically connected via a communicationconnection. The network interface encompasses communication networkssuch as local area networks (LANs) and wide area networks (WANs). LANtechnologies include Fiber Distributed Data Interface (FDDI), CopperDistributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE802.5 and the like. WAN technologies include, but are not limited to,point-to-point links, circuit-switching networks like IntegratedServices Digital Networks (ISDN) and variations thereon,packet-switching networks, and Digital Subscriber Lines (DSL).

In various aspects, the computer system 210 of FIG. 10, the imagingmodule 238 and/or visualization system 208, and/or the processor module232 of FIGS. 9-10, may comprise an image processor, image-processingengine, media processor, or any specialized digital signal processor(DSP) used for the processing of digital images. The image processor mayemploy parallel computing with single instruction, multiple data (SIMD)or multiple instruction, multiple data (MIMD) technologies to increasespeed and efficiency. The digital image-processing engine can perform arange of tasks. The image processor may be a system on a chip withmulticore processor architecture.

The communication connection(s) refers to the hardware/software employedto connect the network interface to the bus. While the communicationconnection is shown for illustrative clarity inside the computer system,it can also be external to the computer system 210. Thehardware/software necessary for connection to the network interfaceincludes, for illustrative purposes only, internal and externaltechnologies such as modems, including regular telephone-grade modems,cable modems, and DSL modems, ISDN adapters, and Ethernet cards.

FIG. 11 illustrates a functional block diagram of one aspect of a USBnetwork hub 300 device, according to one aspect of the presentdisclosure. In the illustrated aspect, the USB network hub device 300employs a TUSB2036 integrated circuit hub by Texas Instruments. The USBnetwork hub 300 is a CMOS device that provides an upstream USBtransceiver port 302 and up to three downstream USB transceiver ports304, 306, 308 in compliance with the USB 2.0 specification. The upstreamUSB transceiver port 302 is a differential root data port comprising adifferential data minus (DM0) input paired with a differential data plus(DP0) input. The three downstream USB transceiver ports 304, 306, 308are differential data ports where each port includes differential dataplus (DP1-DP3) outputs paired with differential data minus (DM1-DM3)outputs.

The USB network hub 300 device is implemented with a digital statemachine instead of a microcontroller, and no firmware programming isrequired. Fully compliant USB transceivers are integrated into thecircuit for the upstream USB transceiver port 302 and all downstream USBtransceiver ports 304, 306, 308. The downstream USB transceiver ports304, 306, 308 support both full-speed and low-speed devices byautomatically setting the slew rate according to the speed of the deviceattached to the ports. The USB network hub 300 device may be configuredeither in bus-powered or self-powered mode and includes a hub powerlogic 312 to manage power.

The USB network hub 300 device includes a serial interface engine 310(SIE). The SIE 310 is the front end of the USB network hub 300 hardwareand handles most of the protocol described in chapter 8 of the USBspecification. The SIE 310 typically comprehends signaling up to thetransaction level. The functions that it handles could include: packetrecognition, transaction sequencing, SOP, EOP, RESET, and RESUME signaldetection/generation, clock/data separation, non-return-to-zero invert(NRZI) data encoding/decoding and bit-stuffing, CRC generation andchecking (token and data), packet ID (PID) generation andchecking/decoding, and/or serial-parallel/parallel-serial conversion.The 310 receives a clock input 314 and is coupled to a suspend/resumelogic and frame timer 316 circuit and a hub repeater circuit 318 tocontrol communication between the upstream USB transceiver port 302 andthe downstream USB transceiver ports 304, 306, 308 through port logiccircuits 320, 322, 324. The SIE 310 is coupled to a command decoder 326via interface logic to control commands from a serial EEPROM via aserial EEPROM interface 330.

In various aspects, the USB network hub 300 can connect 127 functionsconfigured in up to six logical layers (tiers) to a single computer.Further, the USB network hub 300 can connect to all peripherals using astandardized four-wire cable that provides both communication and powerdistribution. The power configurations are bus-powered and self-poweredmodes. The USB network hub 300 may be configured to support four modesof power management: a bus-powered hub, with either individual-portpower management or ganged-port power management, and the self-poweredhub, with either individual-port power management or ganged-port powermanagement. In one aspect, using a USB cable, the USB network hub 300,the upstream USB transceiver port 302 is plugged into a USB hostcontroller, and the downstream USB transceiver ports 304, 306, 308 areexposed for connecting USB compatible devices, and so forth.

Surgical Instrument Hardware

FIG. 12 illustrates a logic diagram of a control system 470 of asurgical instrument or tool in accordance with one or more aspects ofthe present disclosure. The system 470 comprises a control circuit. Thecontrol circuit includes a microcontroller 461 comprising a processor462 and a memory 468. One or more of sensors 472, 474, 476, for example,provide real-time feedback to the processor 462. A motor 482, driven bya motor driver 492, operably couples a longitudinally movabledisplacement member to drive the I-beam knife element. A tracking system480 is configured to determine the position of the longitudinallymovable displacement member. The position information is provided to theprocessor 462, which can be programmed or configured to determine theposition of the longitudinally movable drive member as well as theposition of a firing member, firing bar, and I-beam knife element.Additional motors may be provided at the tool driver interface tocontrol I-beam firing, closure tube travel, shaft rotation, andarticulation. A display 473 displays a variety of operating conditionsof the instruments and may include touch screen functionality for datainput. Information displayed on the display 473 may be overlaid withimages acquired via endoscopic imaging modules.

In one aspect, the microcontroller 461 may be any single-core ormulticore processor such as those known under the trade name ARM Cortexby Texas Instruments. In one aspect, the main microcontroller 461 may bean LM4F230H5QR ARM Cortex-M4F Processor Core, available from TexasInstruments, for example, comprising an on-chip memory of 256 KBsingle-cycle flash memory, or other non-volatile memory, up to 40 MHz, aprefetch buffer to improve performance above 40 MHz, a 32 KBsingle-cycle SRAM, and internal ROM loaded with StellarisWare® software,a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, and/orone or more 12-bit ADCs with 12 analog input channels, details of whichare available for the product datasheet.

In one aspect, the microcontroller 461 may comprise a safety controllercomprising two controller-based families such as TMS570 and RM4x, knownunder the trade name Hercules ARM Cortex R4, also by Texas Instruments.The safety controller may be configured specifically for IEC 61508 andISO 26262 safety critical applications, among others, to provideadvanced integrated safety features while delivering scalableperformance, connectivity, and memory options.

The microcontroller 461 may be programmed to perform various functionssuch as precise control over the speed and position of the knife andarticulation systems. In one aspect, the microcontroller 461 includes aprocessor 462 and a memory 468. The electric motor 482 may be a brusheddirect current (DC) motor with a gearbox and mechanical links to anarticulation or knife system. In one aspect, a motor driver 492 may bean A3941 available from Allegro Microsystems, Inc. Other motor driversmay be readily substituted for use in the tracking system 480 comprisingan absolute positioning system. A detailed description of an absolutepositioning system is described in U.S. Patent Application PublicationNo. 2017/0296213, titled SYSTEMS AND METHODS FOR CONTROLLING A SURGICALSTAPLING AND CUTTING INSTRUMENT, which published on Oct. 19, 2017, whichis herein incorporated by reference in its entirety.

The microcontroller 461 may be programmed to provide precise controlover the speed and position of displacement members and articulationsystems. The microcontroller 461 may be configured to compute a responsein the software of the microcontroller 461. The computed response iscompared to a measured response of the actual system to obtain an“observed” response, which is used for actual feedback decisions. Theobserved response is a favorable, tuned value that balances the smooth,continuous nature of the simulated response with the measured response,which can detect outside influences on the system.

In one aspect, the motor 482 may be controlled by the motor driver 492and can be employed by the firing system of the surgical instrument ortool. In various forms, the motor 482 may be a brushed DC driving motorhaving a maximum rotational speed of approximately 25,000 RPM. In otherarrangements, the motor 482 may include a brushless motor, a cordlessmotor, a synchronous motor, a stepper motor, or any other suitableelectric motor. The motor driver 492 may comprise an H-bridge drivercomprising field-effect transistors (FETs), for example. The motor 482can be powered by a power assembly releasably mounted to the handleassembly or tool housing for supplying control power to the surgicalinstrument or tool. The power assembly may comprise a battery which mayinclude a number of battery cells connected in series that can be usedas the power source to power the surgical instrument or tool. In certaincircumstances, the battery cells of the power assembly may bereplaceable and/or rechargeable. In at least one example, the batterycells can be lithium-ion batteries which can be couplable to andseparable from the power assembly.

The motor driver 492 may be an A3941 available from AllegroMicrosystems, Inc. The A3941 492 is a full-bridge controller for usewith external N-channel power metal-oxide semiconductor field-effecttransistors (MOSFETs) specifically designed for inductive loads, such asbrush DC motors. The driver 492 comprises a unique charge pump regulatorthat provides full (>10 V) gate drive for battery voltages down to 7 Vand allows the A3941 to operate with a reduced gate drive, down to 5.5V. A bootstrap capacitor may be employed to provide the above batterysupply voltage required for N-channel MOSFETs. An internal charge pumpfor the high-side drive allows DC (100% duty cycle) operation. The fullbridge can be driven in fast or slow decay modes using diode orsynchronous rectification. In the slow decay mode, current recirculationcan be through the high-side or the lowside FETs. The power FETs areprotected from shoot-through by resistor-adjustable dead time.Integrated diagnostics provide indications of undervoltage,overtemperature, and power bridge faults and can be configured toprotect the power MOSFETs under most short circuit conditions. Othermotor drivers may be readily substituted for use in the tracking system480 comprising an absolute positioning system.

The tracking system 480 comprises a controlled motor drive circuitarrangement comprising a position sensor 472 according to one aspect ofthis disclosure. The position sensor 472 for an absolute positioningsystem provides a unique position signal corresponding to the locationof a displacement member. In one aspect, the displacement memberrepresents a longitudinally movable drive member comprising a rack ofdrive teeth for meshing engagement with a corresponding drive gear of agear reducer assembly. In other aspects, the displacement memberrepresents the firing member, which could be adapted and configured toinclude a rack of drive teeth. In yet another aspect, the displacementmember represents a firing bar or the I-beam, each of which can beadapted and configured to include a rack of drive teeth. Accordingly, asused herein, the term displacement member is used generically to referto any movable member of the surgical instrument or tool such as thedrive member, the firing member, the firing bar, the I-beam, or anyelement that can be displaced. In one aspect, the longitudinally movabledrive member is coupled to the firing member, the firing bar, and theI-beam. Accordingly, the absolute positioning system can, in effect,track the linear displacement of the I-beam by tracking the lineardisplacement of the longitudinally movable drive member. In variousother aspects, the displacement member may be coupled to any positionsensor 472 suitable for measuring linear displacement. Thus, thelongitudinally movable drive member, the firing member, the firing bar,or the I-beam, or combinations thereof, may be coupled to any suitablelinear displacement sensor. Linear displacement sensors may includecontact or non-contact displacement sensors. Linear displacement sensorsmay comprise linear variable differential transformers (LVDT),differential variable reluctance transducers (DVRT), a slidepotentiometer, a magnetic sensing system comprising a movable magnet anda series of linearly arranged Hall effect sensors, a magnetic sensingsystem comprising a fixed magnet and a series of movable, linearlyarranged Hall effect sensors, an optical sensing system comprising amovable light source and a series of linearly arranged photo diodes orphoto detectors, an optical sensing system comprising a fixed lightsource and a series of movable linearly, arranged photo diodes or photodetectors, or any combination thereof.

The electric motor 482 can include a rotatable shaft that operablyinterfaces with a gear assembly that is mounted in meshing engagementwith a set, or rack, of drive teeth on the displacement member. A sensorelement may be operably coupled to a gear assembly such that a singlerevolution of the position sensor 472 element corresponds to some linearlongitudinal translation of the displacement member. An arrangement ofgearing and sensors can be connected to the linear actuator, via a rackand pinion arrangement, or a rotary actuator, via a spur gear or otherconnection. A power source supplies power to the absolute positioningsystem and an output indicator may display the output of the absolutepositioning system. The displacement member represents thelongitudinally movable drive member comprising a rack of drive teethformed thereon for meshing engagement with a corresponding drive gear ofthe gear reducer assembly. The displacement member represents thelongitudinally movable firing member, firing bar, I-beam, orcombinations thereof.

A single revolution of the sensor element associated with the positionsensor 472 is equivalent to a longitudinal linear displacement d1 of theof the displacement member, where d1 is the longitudinal linear distancethat the displacement member moves from point “a” to point “b” after asingle revolution of the sensor element coupled to the displacementmember. The sensor arrangement may be connected via a gear reductionthat results in the position sensor 472 completing one or morerevolutions for the full stroke of the displacement member. The positionsensor 472 may complete multiple revolutions for the full stroke of thedisplacement member.

A series of switches, where n is an integer greater than one, may beemployed alone or in combination with a gear reduction to provide aunique position signal for more than one revolution of the positionsensor 472. The state of the switches are fed back to themicrocontroller 461 that applies logic to determine a unique positionsignal corresponding to the longitudinal linear displacement d1+d2+ . .. dn of the displacement member. The output of the position sensor 472is provided to the microcontroller 461. The position sensor 472 of thesensor arrangement may comprise a magnetic sensor, an analog rotarysensor like a potentiometer, or an array of analog Hall-effect elements,which output a unique combination of position signals or values.

The position sensor 472 may comprise any number of magnetic sensingelements, such as, for example, magnetic sensors classified according towhether they measure the total magnetic field or the vector componentsof the magnetic field. The techniques used to produce both types ofmagnetic sensors encompass many aspects of physics and electronics. Thetechnologies used for magnetic field sensing include search coil,fluxgate, optically pumped, nuclear precession, SQUID, Hall-effect,anisotropic magnetoresistance, giant magnetoresistance, magnetic tunneljunctions, giant magnetoimpedance, magnetostrictive/piezoelectriccomposites, magnetodiode, magnetotransistor, fiber-optic, magneto-optic,and microelectromechanical systems-based magnetic sensors, among others.

In one aspect, the position sensor 472 for the tracking system 480comprising an absolute positioning system comprises a magnetic rotaryabsolute positioning system. The position sensor 472 may be implementedas an AS5055EQFT single-chip magnetic rotary position sensor availablefrom Austria Microsystems, AG. The position sensor 472 is interfacedwith the microcontroller 461 to provide an absolute positioning system.The position sensor 472 is a low-voltage and low-power component andincludes four Hall-effect elements in an area of the position sensor 472that is located above a magnet. A high-resolution ADC and a smart powermanagement controller are also provided on the chip. A coordinaterotation digital computer (CORDIC) processor, also known as thedigit-by-digit method and Volder's algorithm, is provided to implement asimple and efficient algorithm to calculate hyperbolic and trigonometricfunctions that require only addition, subtraction, bitshift, and tablelookup operations. The angle position, alarm bits, and magnetic fieldinformation are transmitted over a standard serial communicationinterface, such as a serial peripheral interface (SPI) interface, to themicrocontroller 461. The position sensor 472 provides 12 or 14 bits ofresolution. The position sensor 472 may be an AS5055 chip provided in asmall QFN 16-pin 4×4×0.85 mm package.

The tracking system 480 comprising an absolute positioning system maycomprise and/or be programmed to implement a feedback controller, suchas a PID, state feedback, and adaptive controller. A power sourceconverts the signal from the feedback controller into a physical inputto the system: in this case the voltage. Other examples include a PWM ofthe voltage, current, and force. Other sensor(s) may be provided tomeasure physical parameters of the physical system in addition to theposition measured by the position sensor 472. In some aspects, the othersensor(s) can include sensor arrangements such as those described inU.S. Pat. No. 9,345,481, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYS1EM, which issued on May 24, 2016, which is herein incorporated byreference in its entirety; U.S. Patent Application Publication No.2014/0263552, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,which published on Sep. 18, 2014, which is herein incorporated byreference in its entirety; and U.S. patent application Ser. No.15/628,175, titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OFA SURGICAL STAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, whichis herein incorporated by reference in its entirety. In a digital signalprocessing system, an absolute positioning system is coupled to adigital data acquisition system where the output of the absolutepositioning system will have a finite resolution and sampling frequency.The absolute positioning system may comprise a compare-and-combinecircuit to combine a computed response with a measured response usingalgorithms, such as a weighted average and a theoretical control loop,that drive the computed response towards the measured response. Thecomputed response of the physical system takes into account propertieslike mass, inertial, viscous friction, inductance resistance, etc., topredict what the states and outputs of the physical system will be byknowing the input.

The absolute positioning system provides an absolute position of thedisplacement member upon power-up of the instrument, without retractingor advancing the displacement member to a reset (zero or home) positionas may be required with conventional rotary encoders that merely countthe number of steps forwards or backwards that the motor 482 has takento infer the position of a device actuator, drive bar, knife, or thelike.

A sensor 474, such as, for example, a strain gauge or a micro-straingauge, is configured to measure one or more parameters of the endeffector, such as, for example, the amplitude of the strain exerted onthe anvil during a clamping operation, which can be indicative of theclosure forces applied to the anvil. The measured strain is converted toa digital signal and provided to the processor 462. Alternatively, or inaddition to the sensor 474, a sensor 476, such as, for example, a loadsensor, can measure the closure force applied by the closure drivesystem to the anvil. The sensor 476, such as, for example, a loadsensor, can measure the firing force applied to an I-beam in a firingstroke of the surgical instrument or tool. The I-beam is configured toengage a wedge sled, which is configured to upwardly cam staple driversto force out staples into deforming contact with an anvil. The I-beamalso includes a sharpened cutting edge that can be used to sever tissueas the I-beam is advanced distally by the firing bar. Alternatively, acurrent sensor 478 can be employed to measure the current drawn by themotor 482. The force required to advance the firing member cancorrespond to the current drawn by the motor 482, for example. Themeasured force is converted to a digital signal and provided to theprocessor 462.

In one form, the strain gauge sensor 474 can be used to measure theforce applied to the tissue by the end effector. A strain gauge can becoupled to the end effector to measure the force on the tissue beingtreated by the end effector. A system for measuring forces applied tothe tissue grasped by the end effector comprises a strain gauge sensor474, such as, for example, a micro-strain gauge, that is configured tomeasure one or more parameters of the end effector, for example. In oneaspect, the strain gauge sensor 474 can measure the amplitude ormagnitude of the strain exerted on a jaw member of an end effectorduring a clamping operation, which can be indicative of the tissuecompression. The measured strain is converted to a digital signal andprovided to a processor 462 of the microcontroller 461. A load sensor476 can measure the force used to operate the knife element, forexample, to cut the tissue captured between the anvil and the staplecartridge. A magnetic field sensor can be employed to measure thethickness of the captured tissue. The measurement of the magnetic fieldsensor also may be converted to a digital signal and provided to theprocessor 462.

The measurements of the tissue compression, the tissue thickness, and/orthe force required to close the end effector on the tissue, asrespectively measured by the sensors 474, 476, can be used by themicrocontroller 461 to characterize the selected position of the firingmember and/or the corresponding value of the speed of the firing member.In one instance, a memory 468 may store a technique, an equation, and/ora lookup table which can be employed by the microcontroller 461 in theassessment.

The control system 470 of the surgical instrument or tool also maycomprise wired or wireless communication circuits to communicate withthe modular communication hub as shown in FIGS. 8-11.

FIG. 13 illustrates a control circuit 500 configured to control aspectsof the surgical instrument or tool according to one aspect of thisdisclosure. The control circuit 500 can be configured to implementvarious processes described herein. The control circuit 500 may comprisea microcontroller comprising one or more processors 502 (e.g.,microprocessor, microcontroller) coupled to at least one memory circuit504. The memory circuit 504 stores machine-executable instructions that,when executed by the processor 502, cause the processor 502 to executemachine instructions to implement various processes described herein.The processor 502 may be any one of a number of single-core or multicoreprocessors known in the art. The memory circuit 504 may comprisevolatile and non-volatile storage media. The processor 502 may includean instruction processing unit 506 and an arithmetic unit 508. Theinstruction processing unit may be configured to receive instructionsfrom the memory circuit 504 of this disclosure.

FIG. 14 illustrates a combinational logic circuit 510 configured tocontrol aspects of the surgical instrument or tool according to oneaspect of this disclosure. The combinational logic circuit 510 can beconfigured to implement various processes described herein. Thecombinational logic circuit 510 may comprise a finite state machinecomprising a combinational logic 512 configured to receive dataassociated with the surgical instrument or tool at an input 514, processthe data by the combinational logic 512, and provide an output 516.

FIG. 15 illustrates a sequential logic circuit 520 configured to controlaspects of the surgical instrument or tool according to one aspect ofthis disclosure. The sequential logic circuit 520 or the combinationallogic 522 can be configured to implement various processes describedherein. The sequential logic circuit 520 may comprise a finite statemachine. The sequential logic circuit 520 may comprise a combinationallogic 522, at least one memory circuit 524, and a clock 529, forexample. The at least one memory circuit 524 can store a current stateof the finite state machine. In certain instances, the sequential logiccircuit 520 may be synchronous or asynchronous. The combinational logic522 is configured to receive data associated with the surgicalinstrument or tool from an input 526, process the data by thecombinational logic 522, and provide an output 528. In other aspects,the circuit may comprise a combination of a processor (e.g., processor502, FIG. 13) and a finite state machine to implement various processesherein. In other aspects, the finite state machine may comprise acombination of a combinational logic circuit (e.g., combinational logiccircuit 510, FIG. 14) and the sequential logic circuit 520.

FIG. 16 illustrates a surgical instrument or tool comprising a pluralityof motors which can be activated to perform various functions. Incertain instances, a first motor can be activated to perform a firstfunction, a second motor can be activated to perform a second function,a third motor can be activated to perform a third function, a fourthmotor can be activated to perform a fourth function, and so on. Incertain instances, the plurality of motors of robotic surgicalinstrument 600 can be individually activated to cause firing, closure,and/or articulation motions in the end effector. The firing, closure,and/or articulation motions can be transmitted to the end effectorthrough a shaft assembly, for example.

In certain instances, the surgical instrument system or tool may includea firing motor 602. The firing motor 602 may be operably coupled to afiring motor drive assembly 604 which can be configured to transmitfiring motions, generated by the motor 602 to the end effector, inparticular to displace the I-beam element. In certain instances, thefiring motions generated by the motor 602 may cause the staples to bedeployed from the staple cartridge into tissue captured by the endeffector and/or the cutting edge of the I-beam element to be advanced tocut the captured tissue, for example. The I-beam element may beretracted by reversing the direction of the motor 602.

In certain instances, the surgical instrument or tool may include aclosure motor 603. The closure motor 603 may be operably coupled to aclosure motor drive assembly 605 which can be configured to transmitclosure motions, generated by the motor 603 to the end effector, inparticular to displace a closure tube to close the anvil and compresstissue between the anvil and the staple cartridge. The closure motionsmay cause the end effector to transition from an open configuration toan approximated configuration to capture tissue, for example. The endeffector may be transitioned to an open position by reversing thedirection of the motor 603.

In certain instances, the surgical instrument or tool may include one ormore articulation motors 606 a, 606 b, for example. The motors 606 a,606 b may be operably coupled to respective articulation motor driveassemblies 608 a, 608 b, which can be configured to transmitarticulation motions generated by the motors 606 a, 606 b to the endeffector. In certain instances, the articulation motions may cause theend effector to articulate relative to the shaft, for example.

As described above, the surgical instrument or tool may include aplurality of motors which may be configured to perform variousindependent functions. In certain instances, the plurality of motors ofthe surgical instrument or tool can be individually or separatelyactivated to perform one or more functions while the other motors remaininactive. For example, the articulation motors 606 a, 606 b can beactivated to cause the end effector to be articulated while the firingmotor 602 remains inactive. Alternatively, the firing motor 602 can beactivated to fire the plurality of staples, and/or to advance thecutting edge, while the articulation motor 606 remains inactive.Furthermore, the closure motor 603 may be activated simultaneously withthe firing motor 602 to cause the closure tube and the I-beam element toadvance distally as described in more detail hereinbelow.

In certain instances, the surgical instrument or tool may include acommon control module 610 which can be employed with a plurality ofmotors of the surgical instrument or tool. In certain instances, thecommon control module 610 may accommodate one of the plurality of motorsat a time. For example, the common control module 610 can be couplableto and separable from the plurality of motors of the robotic surgicalinstrument individually. In certain instances, a plurality of the motorsof the surgical instrument or tool may share one or more common controlmodules such as the common control module 610. In certain instances, aplurality of motors of the surgical instrument or tool can beindividually and selectively engaged with the common control module 610.In certain instances, the common control module 610 can be selectivelyswitched from interfacing with one of a plurality of motors of thesurgical instrument or tool to interfacing with another one of theplurality of motors of the surgical instrument or tool.

In at least one example, the common control module 610 can beselectively switched between operable engagement with the articulationmotors 606 a, 606 b and operable engagement with either the firing motor602 or the closure motor 603. In at least one example, as illustrated inFIG. 16, a switch 614 can be moved or transitioned between a pluralityof positions and/or states. In a first position 616, the switch 614 mayelectrically couple the common control module 610 to the firing motor602; in a second position 617, the switch 614 may electrically couplethe common control module 610 to the closure motor 603; in a thirdposition 618 a, the switch 614 may electrically couple the commoncontrol module 610 to the first articulation motor 606 a ; and in afourth position 618 b, the switch 614 may electrically couple the commoncontrol module 610 to the second articulation motor 606 b, for example.In certain instances, separate common control modules 610 can beelectrically coupled to the firing motor 602, the closure motor 603, andthe articulations motor 606 a, 606 b at the same time. In certaininstances, the switch 614 may be a mechanical switch, anelectromechanical switch, a solid-state switch, or any suitableswitching mechanism

Each of the motors 602, 603, 606 a, 606 b may comprise a torque sensorto measure the output torque on the shaft of the motor. The force on anend effector may be sensed in any conventional manner, such as by forcesensors on the outer sides of the jaws or by a torque sensor for themotor actuating the jaws.

In various instances, as illustrated in FIG. 16, the common controlmodule 610 may comprise a motor driver 626 which may comprise one ormore H-Bridge FETs. The motor driver 626 may modulate the powertransmitted from a power source 628 to a motor coupled to the commoncontrol module 610 based on input from a microcontroller 620 (the“controller”), for example. In certain instances, the microcontroller620 can be employed to determine the current drawn by the motor, forexample, while the motor is coupled to the common control module 610, asdescribed above.

In certain instances, the microcontroller 620 may include amicroprocessor 622 (the “processor”) and one or more non-transitorycomputer-readable mediums or memory units 624 (the “memory”). In certaininstances, the memory 624 may store various program instructions, whichwhen executed may cause the processor 622 to perform a plurality offunctions and/or calculations described herein. In certain instances,one or more of the memory units 624 may be coupled to the processor 622,for example.

In certain instances, the power source 628 can be employed to supplypower to the microcontroller 620, for example. In certain instances, thepower source 628 may comprise a battery (or “battery pack” or “powerpack”), such as a lithium-ion battery, for example. In certaininstances, the battery pack may be configured to be releasably mountedto a handle for supplying power to the surgical instrument 600. A numberof battery cells connected in series may be used as the power source628. In certain instances, the power source 628 may be replaceableand/or rechargeable, for example.

In various instances, the processor 622 may control the motor driver 626to control the position, direction of rotation, and/or velocity of amotor that is coupled to the common control module 610. In certaininstances, the processor 622 can signal the motor driver 626 to stopand/or disable a motor that is coupled to the common control module 610.It should be understood that the term “processor” as used hereinincludes any suitable microprocessor, microcontroller, or other basiccomputing device that incorporates the functions of a computer's centralprocessing unit (CPU) on an integrated circuit or, at most, a fewintegrated circuits. The processor is a multipurpose, programmabledevice that accepts digital data as input, processes it according toinstructions stored in its memory, and provides results as output. It isan example of sequential digital logic, as it has internal memory.Processors operate on numbers and symbols represented in the binarynumeral system.

In one instance, the processor 622 may be any single-core or multicoreprocessor such as those known under the trade name ARM Cortex by TexasInstruments. In certain instances, the microcontroller 620 may be an LM4F230H5QR, available from Texas Instruments, for example. In at leastone example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4FProcessor Core comprising an on-chip memory of 256 KB single-cycle flashmemory, or other non-volatile memory, up to 40 MHz, a prefetch buffer toimprove performance above 40 MHz, a 32 KB single-cycle SRAM, an internalROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWMmodules, one or more QEI analogs, one or more 12-bit ADCs with 12 analoginput channels, among other features that are readily available for theproduct datasheet. Other microcontrollers may be readily substituted foruse with the module 4410. Accordingly, the present disclosure should notbe limited in this context.

In certain instances, the memory 624 may include program instructionsfor controlling each of the motors of the surgical instrument 600 thatare couplable to the common control module 610. For example, the memory624 may include program instructions for controlling the firing motor602, the closure motor 603, and the articulation motors 606 a, 606 b.Such program instructions may cause the processor 622 to control thefiring, closure, and articulation functions in accordance with inputsfrom algorithms or control programs of the surgical instrument or tool.

In certain instances, one or more mechanisms and/or sensors such as, forexample, sensors 630 can be employed to alert the processor 622 to theprogram instructions that should be used in a particular setting. Forexample, the sensors 630 may alert the processor 622 to use the programinstructions associated with firing, closing, and articulating the endeffector. In certain instances, the sensors 630 may comprise positionsensors which can be employed to sense the position of the switch 614,for example. Accordingly, the processor 622 may use the programinstructions associated with firing the I-beam of the end effector upondetecting, through the sensors 630 for example, that the switch 614 isin the first position 616; the processor 622 may use the programinstructions associated with closing the anvil upon detecting, throughthe sensors 630 for example, that the switch 614 is in the secondposition 617; and the processor 622 may use the program instructionsassociated with articulating the end effector upon detecting, throughthe sensors 630 for example, that the switch 614 is in the third orfourth position 618 a, 618 b.

FIG. 17 is a schematic diagram of a robotic surgical instrument 700configured to operate a surgical tool described herein according to oneaspect of this disclosure. The robotic surgical instrument 700 may beprogrammed or configured to control distal/proximal translation of adisplacement member, distal/proximal displacement of a closure tube,shaft rotation, and articulation, either with single or multiplearticulation drive links In one aspect, the surgical instrument 700 maybe programmed or configured to individually control a firing member, aclosure member, a shaft member, and/or one or more articulation members.The surgical instrument 700 comprises a control circuit 710 configuredto control motor-driven firing members, closure members, shaft members,and/or one or more articulation members.

In one aspect, the robotic surgical instrument 700 comprises a controlcircuit 710 configured to control an anvil 716 and an I-beam 714(including a sharp cutting edge) portion of an end effector 702, aremovable staple cartridge 718, a shaft 740, and one or morearticulation members 742 a, 742 b via a plurality of motors 704 a-704 e.A position sensor 734 may be configured to provide position feedback ofthe I-beam 714 to the control circuit 710. Other sensors 738 may beconfigured to provide feedback to the control circuit 710. Atimer/counter 731 provides timing and counting information to thecontrol circuit 710. An energy source 712 may be provided to operate themotors 704 a-704 e, and a current sensor 736 provides motor currentfeedback to the control circuit 710. The motors 704 a-704 e can beoperated individually by the control circuit 710 in an open-loop orclosed-loop feedback control.

In one aspect, the control circuit 710 may comprise one or moremicrocontrollers, microprocessors, or other suitable processors forexecuting instructions that cause the processor or processors to performone or more tasks. In one aspect, a timer/counter 731 provides an outputsignal, such as the elapsed time or a digital count, to the controlcircuit 710 to correlate the position of the I-beam 714 as determined bythe position sensor 734 with the output of the timer/counter 731 suchthat the control circuit 710 can determine the position of the I-beam714 at a specific time (t) relative to a starting position or the time(t) when the I-beam 714 is at a specific position relative to a startingposition. The timer/counter 731 may be configured to measure elapsedtime, count external events, or time external events.

In one aspect, the control circuit 710 may be programmed to controlfunctions of the end effector 702 based on one or more tissueconditions. The control circuit 710 may be programmed to sense tissueconditions, such as thickness, either directly or indirectly, asdescribed herein. The control circuit 710 may be programmed to select afiring control program or closure control program based on tissueconditions. A firing control program may describe the distal motion ofthe displacement member. Different firing control programs may beselected to better treat different tissue conditions. For example, whenthicker tissue is present, the control circuit 710 may be programmed totranslate the displacement member at a lower velocity and/or with lowerpower. When thinner tissue is present, the control circuit 710 may beprogrammed to translate the displacement member at a higher velocityand/or with higher power. A closure control program may control theclosure force applied to the tissue by the anvil 716. Other controlprograms control the rotation of the shaft 740 and the articulationmembers 742 a, 742 b.

In one aspect, the control circuit 710 may generate motor set pointsignals The motor set point signals may be provided to various motorcontrollers 708 a-708 e. The motor controllers 708 a-708 e may compriseone or more circuits configured to provide motor drive signals to themotors 704 a-704 e to drive the motors 704 a-704 e as described herein.In some examples, the motors 704 a-704 e may be brushed DC electricmotors. For example, the velocity of the motors 704 a-704 e may beproportional to the respective motor drive signals. In some examples,the motors 704 a-704 e may be brushless DC electric motors, and therespective motor drive signals may comprise a PWM signal provided to oneor more stator windings of the motors 704 a-704 e. Also, in someexamples, the motor controllers 708 a-708 e may be omitted and thecontrol circuit 710 may generate the motor drive signals directly.

In one aspect, the control circuit 710 may initially operate each of themotors 704 a-704 e in an open-loop configuration for a first open-loopportion of a stroke of the displacement member. Based on the response ofthe robotic surgical instrument 700 during the open-loop portion of thestroke, the control circuit 710 may select a firing control program in aclosed-loop configuration. The response of the instrument may include atranslation distance of the displacement member during the open-loopportion, a time elapsed during the open-loop portion, the energyprovided to one of the motors 704 a-704 e during the open-loop portion,a sum of pulse widths of a motor drive signal, etc. After the open-loopportion, the control circuit 710 may implement the selected firingcontrol program for a second portion of the displacement member stroke.For example, during a closed-loop portion of the stroke, the controlcircuit 710 may modulate one of the motors 704 a-704 e based ontranslation data describing a position of the displacement member in aclosed-loop manner to translate the displacement member at a constantvelocity.

In one aspect, the motors 704 a-704 e may receive power from an energysource 712. The energy source 712 may be a DC power supply driven by amain alternating current power source, a battery, a super capacitor, orany other suitable energy source. The motors 704 a-704 e may bemechanically coupled to individual movable mechanical elements such asthe I-beam 714, anvil 716, shaft 740, articulation 742 a, andarticulation 742 b via respective transmissions 706 a-706 e. Thetransmissions 706 a-706 e may include one or more gears or other linkagecomponents to couple the motors 704 a-704 e to movable mechanicalelements. A position sensor 734 may sense a position of the I-beam 714.The position sensor 734 may be or include any type of sensor that iscapable of generating position data that indicate a position of theI-beam 714. In some examples, the position sensor 734 may include anencoder configured to provide a series of pulses to the control circuit710 as the I-beam 714 translates distally and proximally. The controlcircuit 710 may track the pulses to determine the position of the I-beam714. Other suitable position sensors may be used, including, forexample, a proximity sensor. Other types of position sensors may provideother signals indicating motion of the I-beam 714. Also, in someexamples, the position sensor 734 may be omitted. Where any of themotors 704 a-704 e is a stepper motor, the control circuit 710 may trackthe position of the I-beam 714 by aggregating the number and directionof steps that the motor 704 has been instructed to execute. The positionsensor 734 may be located in the end effector 702 or at any otherportion of the instrument. The outputs of each of the motors 704 a-704 einclude a torque sensor 744 a-744 e to sense force and have an encoderto sense rotation of the drive shaft.

In one aspect, the control circuit 710 is configured to drive a firingmember such as the I-beam 714 portion of the end effector 702. Thecontrol circuit 710 provides a motor set point to a motor control 708 a,which provides a drive signal to the motor 704 a. The output shaft ofthe motor 704 a is coupled to a torque sensor 744 a. The torque sensor744 a is coupled to a transmission 706 a which is coupled to the I-beam714. The transmission 706 a comprises movable mechanical elements suchas rotating elements and a firing member to control the movement of theI-beam 714 distally and proximally along a longitudinal axis of the endeffector 702. In one aspect, the motor 704 a may be coupled to the knifegear assembly, which includes a knife gear reduction set that includes afirst knife drive gear and a second knife drive gear. A torque sensor744 a provides a firing force feedback signal to the control circuit710. The firing force signal represents the force required to fire ordisplace the I-beam 714. A position sensor 734 may be configured toprovide the position of the I-beam 714 along the firing stroke or theposition of the firing member as a feedback signal to the controlcircuit 710. The end effector 702 may include additional sensors 738configured to provide feedback signals to the control circuit 710. Whenready to use, the control circuit 710 may provide a firing signal to themotor control 708 a. In response to the firing signal, the motor 704 amay drive the firing member distally along the longitudinal axis of theend effector 702 from a proximal stroke start position to a stroke endposition distal to the stroke start position. As the firing membertranslates distally, an I-beam 714, with a cutting element positioned ata distal end, advances distally to cut tissue located between the staplecartridge 718 and the anvil 716.

In one aspect, the control circuit 710 is configured to drive a closuremember such as the anvil 716 portion of the end effector 702. Thecontrol circuit 710 provides a motor set point to a motor control 708 b,which provides a drive signal to the motor 704 b. The output shaft ofthe motor 704 b is coupled to a torque sensor 744 b. The torque sensor744 b is coupled to a transmission 706 b which is coupled to the anvil716. The transmission 706 b comprises movable mechanical elements suchas rotating elements and a closure member to control the movement of theanvil 716 from the open and closed positions. In one aspect, the motor704 b is coupled to a closure gear assembly, which includes a closurereduction gear set that is supported in meshing engagement with theclosure spur gear. The torque sensor 744 b provides a closure forcefeedback signal to the control circuit 710. The closure force feedbacksignal represents the closure force applied to the anvil 716. Theposition sensor 734 may be configured to provide the position of theclosure member as a feedback signal to the control circuit 710.Additional sensors 738 in the end effector 702 may provide the closureforce feedback signal to the control circuit 710. The pivotable anvil716 is positioned opposite the staple cartridge 718. When ready to use,the control circuit 710 may provide a closure signal to the motorcontrol 708 b. In response to the closure signal, the motor 704 badvances a closure member to grasp tissue between the anvil 716 and thestaple cartridge 718.

In one aspect, the control circuit 710 is configured to rotate a shaftmember such as the shaft 740 to rotate the end effector 702. The controlcircuit 710 provides a motor set point to a motor control 708 c, whichprovides a drive signal to the motor 704 c. The output shaft of themotor 704 c is coupled to a torque sensor 744 c. The torque sensor 744 cis coupled to a transmission 706 c which is coupled to the shaft 740.The transmission 706 c comprises movable mechanical elements such asrotating elements to control the rotation of the shaft 740 clockwise orcounterclockwise up to and over 360°. In one aspect, the motor 704 c iscoupled to the rotational transmission assembly, which includes a tubegear segment that is formed on (or attached to) the proximal end of theproximal closure tube for operable engagement by a rotational gearassembly that is operably supported on the tool mounting plate. Thetorque sensor 744 c provides a rotation force feedback signal to thecontrol circuit 710. The rotation force feedback signal represents therotation force applied to the shaft 740. The position sensor 734 may beconfigured to provide the position of the closure member as a feedbacksignal to the control circuit 710. Additional sensors 738 such as ashaft encoder may provide the rotational position of the shaft 740 tothe control circuit 710.

In one aspect, the control circuit 710 is configured to articulate theend effector 702. The control circuit 710 provides a motor set point toa motor control 708 d, which provides a drive signal to the motor 704 d.The output shaft of the motor 704 d is coupled to a torque sensor 744 d.The torque sensor 744 d is coupled to a transmission 706 d which iscoupled to an articulation member 742 a. The transmission 706 dcomprises movable mechanical elements such as articulation elements tocontrol the articulation of the end effector 702±65°. In one aspect, themotor 704 d is coupled to an articulation nut, which is rotatablyjournaled on the proximal end portion of the distal spine portion and isrotatably driven thereon by an articulation gear assembly. The torquesensor 744 d provides an articulation force feedback signal to thecontrol circuit 710. The articulation force feedback signal representsthe articulation force applied to the end effector 702. Sensors 738,such as an articulation encoder, may provide the articulation positionof the end effector 702 to the control circuit 710.

In another aspect, the articulation function of the robotic surgicalsystem 700 may comprise two articulation members, or links, 742 a, 742b. These articulation members 742 a, 742 b are driven by separate diskson the robot interface (the rack) which are driven by the two motors 708d, 708 e. When the separate firing motor 704 a is provided, each ofarticulation links 742 a, 742 b can be antagonistically driven withrespect to the other link in order to provide a resistive holding motionand a load to the head when it is not moving and to provide anarticulation motion as the head is articulated. The articulation members742 a, 742 b attach to the head at a fixed radius as the head isrotated. Accordingly, the mechanical advantage of the push-and-pull linkchanges as the head is rotated. This change in the mechanical advantagemay be more pronounced with other articulation link drive systems.

In one aspect, the one or more motors 704 a-704 e may comprise a brushedDC motor with a gearbox and mechanical links to a firing member, closuremember, or articulation member. Another example includes electric motors704 a-704 e that operate the movable mechanical elements such as thedisplacement member, articulation links, closure tube, and shaft. Anoutside influence is an unmeasured, unpredictable influence of thingslike tissue, surrounding bodies, and friction on the physical system.Such outside influence can be referred to as drag, which acts inopposition to one of electric motors 704 a-704 e. The outside influence,such as drag, may cause the operation of the physical system to deviatefrom a desired operation of the physical system.

In one aspect, the position sensor 734 may be implemented as an absolutepositioning system. In one aspect, the position sensor 734 may comprisea magnetic rotary absolute positioning system implemented as anAS5055EQFT single-chip magnetic rotary position sensor available fromAustria Microsystems, AG. The position sensor 734 may interface with thecontrol circuit 710 to provide an absolute positioning system. Theposition may include multiple Hall-effect elements located above amagnet and coupled to a CORDIC processor, also known as thedigit-by-digit method and Volder's algorithm, that is provided toimplement a simple and efficient algorithm to calculate hyperbolic andtrigonometric functions that require only addition, subtraction,bitshift, and table lookup operations.

In one aspect, the control circuit 710 may be in communication with oneor more sensors 738. The sensors 738 may be positioned on the endeffector 702 and adapted to operate with the robotic surgical instrument700 to measure the various derived parameters such as the gap distanceversus time, tissue compression versus time, and anvil strain versustime. The sensors 738 may comprise a magnetic sensor, a magnetic fieldsensor, a strain gauge, a load cell, a pressure sensor, a force sensor,a torque sensor, an inductive sensor such as an eddy current sensor, aresistive sensor, a capacitive sensor, an optical sensor, and/or anyother suitable sensor for measuring one or more parameters of the endeffector 702. The sensors 738 may include one or more sensors. Thesensors 738 may be located on the staple cartridge 718 deck to determinetissue location using segmented electrodes. The torque sensors 744 a-744e may be configured to sense force such as firing force, closure force,and/or articulation force, among others. Accordingly, the controlcircuit 710 can sense (1) the closure load experienced by the distalclosure tube and its position, (2) the firing member at the rack and itsposition, (3) what portion of the staple cartridge 718 has tissue on it,and (4) the load and position on both articulation rods.

In one aspect, the one or more sensors 738 may comprise a strain gauge,such as a micro-strain gauge, configured to measure the magnitude of thestrain in the anvil 716 during a clamped condition. The strain gaugeprovides an electrical signal whose amplitude varies with the magnitudeof the strain. The sensors 738 may comprise a pressure sensor configuredto detect a pressure generated by the presence of compressed tissuebetween the anvil 716 and the staple cartridge 718. The sensors 738 maybe configured to detect impedance of a tissue section located betweenthe anvil 716 and the staple cartridge 718 that is indicative of thethickness and/or fullness of tissue located therebetween.

In one aspect, the sensors 738 may be implemented as one or more limitswitches, electromechanical devices, solid-state switches, Hall-effectdevices, magneto-resistive (MR) devices, giant magneto-resistive (GMR)devices, magnetometers, among others. In other implementations, thesensors 738 may be implemented as solid-state switches that operateunder the influence of light, such as optical sensors, IR sensors,ultraviolet sensors, among others. Still, the switches may besolid-state devices such as transistors (e.g., FET, junction FET,MOSFET, bipolar, and the like). In other implementations, the sensors738 may include electrical conductorless switches, ultrasonic switches,accelerometers, and inertial sensors, among others.

In one aspect, the sensors 738 may be configured to measure forcesexerted on the anvil 716 by the closure drive system. For example, oneor more sensors 738 can be at an interaction point between the closuretube and the anvil 716 to detect the closure forces applied by theclosure tube to the anvil 716. The forces exerted on the anvil 716 canbe representative of the tissue compression experienced by the tissuesection captured between the anvil 716 and the staple cartridge 718. Theone or more sensors 738 can be positioned at various interaction pointsalong the closure drive system to detect the closure forces applied tothe anvil 716 by the closure drive system. The one or more sensors 738may be sampled in real time during a clamping operation by the processorof the control circuit 710. The control circuit 710 receives real-timesample measurements to provide and analyze time-based information andassess, in real time, closure forces applied to the anvil 716.

In one aspect, a current sensor 736 can be employed to measure thecurrent drawn by each of the motors 704 a-704 e. The force required toadvance any of the movable mechanical elements such as the I-beam 714corresponds to the current drawn by one of the motors 704 a-704 e. Theforce is converted to a digital signal and provided to the controlcircuit 710. The control circuit 710 can be configured to simulate theresponse of the actual system of the instrument in the software of thecontroller. A displacement member can be actuated to move an I-beam 714in the end effector 702 at or near a target velocity. The roboticsurgical instrument 700 can include a feedback controller, which can beone of any feedback controllers, including, but not limited to a PID, astate feedback, a linear-quadratic (LQR), and/or an adaptive controller,for example. The robotic surgical instrument 700 can include a powersource to convert the signal from the feedback controller into aphysical input such as case voltage, PWM voltage, frequency modulatedvoltage, current, torque, and/or force, for example. Additional detailsare disclosed in U.S. patent application Ser. No. 15/636,829, titledCLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT,filed Jun. 29, 2017, which is herein incorporated by reference in itsentirety.

FIG. 18 illustrates a block diagram of a surgical instrument 750programmed to control the distal translation of a displacement memberaccording to one aspect of this disclosure. In one aspect, the surgicalinstrument 750 is programmed to control the distal translation of adisplacement member such as the I-beam 764. The surgical instrument 750comprises an end effector 752 that may comprise an anvil 766, an I-beam764 (including a sharp cutting edge), and a removable staple cartridge768.

The position, movement, displacement, and/or translation of a lineardisplacement member, such as the I-beam 764, can be measured by anabsolute positioning system, sensor arrangement, and position sensor784. Because the I-beam 764 is coupled to a longitudinally movable drivemember, the position of the I-beam 764 can be determined by measuringthe position of the longitudinally movable drive member employing theposition sensor 784. Accordingly, in the following description, theposition, displacement, and/or translation of the I-beam 764 can beachieved by the position sensor 784 as described herein. A controlcircuit 760 may be programmed to control the translation of thedisplacement member, such as the I-beam 764. The control circuit 760, insome examples, may comprise one or more microcontrollers,microprocessors, or other suitable processors for executing instructionsthat cause the processor or processors to control the displacementmember, e.g., the I-beam 764, in the manner described. In one aspect, atimer/counter 781 provides an output signal, such as the elapsed time ora digital count, to the control circuit 760 to correlate the position ofthe I-beam 764 as determined by the position sensor 784 with the outputof the timer/counter 781 such that the control circuit 760 can determinethe position of the I-beam 764 at a specific time (t) relative to astarting position. The timer/counter 781 may be configured to measureelapsed time, count external events, or time external events.

The control circuit 760 may generate a motor set point signal 772. Themotor set point signal 772 may be provided to a motor controller 758.The motor controller 758 may comprise one or more circuits configured toprovide a motor drive signal 774 to the motor 754 to drive the motor 754as described herein. In some examples, the motor 754 may be a brushed DCelectric motor. For example, the velocity of the motor 754 may beproportional to the motor drive signal 774. In some examples, the motor754 may be a brushless DC electric motor and the motor drive signal 774may comprise a PWM signal provided to one or more stator windings of themotor 754. Also, in some examples, the motor controller 758 may beomitted, and the control circuit 760 may generate the motor drive signal774 directly.

The motor 754 may receive power from an energy source 762. The energysource 762 may be or include a battery, a super capacitor, or any othersuitable energy source. The motor 754 may be mechanically coupled to theI-beam 764 via a transmission 756. The transmission 756 may include oneor more gears or other linkage components to couple the motor 754 to theI-beam 764. A position sensor 784 may sense a position of the I-beam764. The position sensor 784 may be or include any type of sensor thatis capable of generating position data that indicate a position of theI-beam 764. In some examples, the position sensor 784 may include anencoder configured to provide a series of pulses to the control circuit760 as the I-beam 764 translates distally and proximally. The controlcircuit 760 may track the pulses to determine the position of the I-beam764. Other suitable position sensors may be used, including, forexample, a proximity sensor. Other types of position sensors may provideother signals indicating motion of the I-beam 764. Also, in someexamples, the position sensor 784 may be omitted. Where the motor 754 isa stepper motor, the control circuit 760 may track the position of theI-beam 764 by aggregating the number and direction of steps that themotor 754 has been instructed to execute. The position sensor 784 may belocated in the end effector 752 or at any other portion of theinstrument.

The control circuit 760 may be in communication with one or more sensors788. The sensors 788 may be positioned on the end effector 752 andadapted to operate with the surgical instrument 750 to measure thevarious derived parameters such as gap distance versus time, tissuecompression versus time, and anvil strain versus time. The sensors 788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge,a pressure sensor, a force sensor, an inductive sensor such as an eddycurrent sensor, a resistive sensor, a capacitive sensor, an opticalsensor, and/or any other suitable sensor for measuring one or moreparameters of the end effector 752. The sensors 788 may include one ormore sensors.

The one or more sensors 788 may comprise a strain gauge, such as amicro-strain gauge, configured to measure the magnitude of the strain inthe anvil 766 during a clamped condition. The strain gauge provides anelectrical signal whose amplitude varies with the magnitude of thestrain. The sensors 788 may comprise a pressure sensor configured todetect a pressure generated by the presence of compressed tissue betweenthe anvil 766 and the staple cartridge 768. The sensors 788 may beconfigured to detect impedance of a tissue section located between theanvil 766 and the staple cartridge 768 that is indicative of thethickness and/or fullness of tissue located therebetween.

The sensors 788 may be is configured to measure forces exerted on theanvil 766 by a closure drive system. For example, one or more sensors788 can be at an interaction point between a closure tube and the anvil766 to detect the closure forces applied by a closure tube to the anvil766. The forces exerted on the anvil 766 can be representative of thetissue compression experienced by the tissue section captured betweenthe anvil 766 and the staple cartridge 768. The one or more sensors 788can be positioned at various interaction points along the closure drivesystem to detect the closure forces applied to the anvil 766 by theclosure drive system. The one or more sensors 788 may be sampled in realtime during a clamping operation by a processor of the control circuit760. The control circuit 760 receives real-time sample measurements toprovide and analyze time-based information and assess, in real time,closure forces applied to the anvil 766.

A current sensor 786 can be employed to measure the current drawn by themotor 754. The force required to advance the I-beam 764 corresponds tothe current drawn by the motor 754. The force is converted to a digitalsignal and provided to the control circuit 760.

The control circuit 760 can be configured to simulate the response ofthe actual system of the instrument in the software of the controller. Adisplacement member can be actuated to move an I-beam 764 in the endeffector 752 at or near a target velocity. The surgical instrument 750can include a feedback controller, which can be one of any feedbackcontrollers, including, but not limited to a PID, a state feedback, LQR,and/or an adaptive controller, for example. The surgical instrument 750can include a power source to convert the signal from the feedbackcontroller into a physical input such as case voltage, PWM voltage,frequency modulated voltage, current, torque, and/or force, for example.

The actual drive system of the surgical instrument 750 is configured todrive the displacement member, cutting member, or I-beam 764, by abrushed DC motor with gearbox and mechanical links to an articulationand/or knife system. Another example is the electric motor 754 thatoperates the displacement member and the articulation driver, forexample, of an interchangeable shaft assembly. An outside influence isan unmeasured, unpredictable influence of things like tissue,surrounding bodies and friction on the physical system. Such outsideinfluence can be referred to as drag which acts in opposition to theelectric motor 754. The outside influence, such as drag, may cause theoperation of the physical system to deviate from a desired operation ofthe physical system.

Various example aspects are directed to a surgical instrument 750comprising an end effector 752 with motor-driven surgical stapling andcutting implements. For example, a motor 754 may drive a displacementmember distally and proximally along a longitudinal axis of the endeffector 752. The end effector 752 may comprise a pivotable anvil 766and, when configured for use, a staple cartridge 768 positioned oppositethe anvil 766. A clinician may grasp tissue between the anvil 766 andthe staple cartridge 768, as described herein. When ready to use theinstrument 750, the clinician may provide a firing signal, for exampleby depressing a trigger of the instrument 750. In response to the firingsignal, the motor 754 may drive the displacement member distally alongthe longitudinal axis of the end effector 752 from a proximal strokebegin position to a stroke end position distal of the stroke beginposition. As the displacement member translates distally, an I-beam 764with a cutting element positioned at a distal end, may cut the tissuebetween the staple cartridge 768 and the anvil 766.

In various examples, the surgical instrument 750 may comprise a controlcircuit 760 programmed to control the distal translation of thedisplacement member, such as the I-beam 764, for example, based on oneor more tissue conditions. The control circuit 760 may be programmed tosense tissue conditions, such as thickness, either directly orindirectly, as described herein. The control circuit 760 may beprogrammed to select a firing control program based on tissueconditions. A firing control program may describe the distal motion ofthe displacement member. Different firing control programs may beselected to better treat different tissue conditions. For example, whenthicker tissue is present, the control circuit 760 may be programmed totranslate the displacement member at a lower velocity and/or with lowerpower. When thinner tissue is present, the control circuit 760 may beprogrammed to translate the displacement member at a higher velocityand/or with higher power.

In some examples, the control circuit 760 may initially operate themotor 754 in an open loop configuration for a first open loop portion ofa stroke of the displacement member. Based on a response of theinstrument 750 during the open loop portion of the stroke, the controlcircuit 760 may select a firing control program. The response of theinstrument may include, a translation distance of the displacementmember during the open loop portion, a time elapsed during the open loopportion, energy provided to the motor 754 during the open loop portion,a sum of pulse widths of a motor drive signal, etc. After the open loopportion, the control circuit 760 may implement the selected firingcontrol program for a second portion of the displacement member stroke.For example, during the closed loop portion of the stroke, the controlcircuit 760 may modulate the motor 754 based on translation datadescribing a position of the displacement member in a closed loop mannerto translate the displacement member at a constant velocity. Additionaldetails are disclosed in U.S. patent application Ser. No. 15/720,852,titled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICALINSTRUMENT, filed Sep. 29, 2017, which is herein incorporated byreference in its entirety.

FIG. 19 is a schematic diagram of a surgical instrument 790 configuredto control various functions according to one aspect of this disclosure.In one aspect, the surgical instrument 790 is programmed to controldistal translation of a displacement member such as the I-beam 764. Thesurgical instrument 790 comprises an end effector 792 that may comprisean anvil 766, an I-beam 764, and a removable staple cartridge 768 whichmay be interchanged with an RF cartridge 796 (shown in dashed line).

In one aspect, sensors 788 may be implemented as a limit switch,electromechanical device, solid-state switches, Hall-effect devices, MRdevices, GIVER devices, magnetometers, among others. In otherimplementations, the sensors 638 may be solid-state switches thatoperate under the influence of light, such as optical sensors, IRsensors, ultraviolet sensors, among others. Still, the switches may besolid-state devices such as transistors (e.g., FET, junction FET,MOSFET, bipolar, and the like). In other implementations, the sensors788 may include electrical conductorless switches, ultrasonic switches,accelerometers, and inertial sensors, among others.

In one aspect, the position sensor 784 may be implemented as an absolutepositioning system comprising a magnetic rotary absolute positioningsystem implemented as an AS5055EQFT single-chip magnetic rotary positionsensor available from Austria Microsystems, AG. The position sensor 784may interface with the control circuit 760 to provide an absolutepositioning system. The position may include multiple Hall-effectelements located above a magnet and coupled to a CORDIC processor, alsoknown as the digit-by-digit method and Volder's algorithm, that isprovided to implement a simple and efficient algorithm to calculatehyperbolic and trigonometric functions that require only addition,subtraction, bitshift, and table lookup operations.

In one aspect, the I-beam 764 may be implemented as a knife membercomprising a knife body that operably supports a tissue cutting bladethereon and may further include anvil engagement tabs or features andchannel engagement features or a foot. In one aspect, the staplecartridge 768 may be implemented as a standard (mechanical) surgicalfastener cartridge. In one aspect, the RF cartridge 796 may beimplemented as an RF cartridge. These and other sensors arrangements aredescribed in commonly-owned U.S. patent application Ser. No. 15/628,175,titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICALSTAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, which is hereinincorporated by reference in its entirety.

The position, movement, displacement, and/or translation of a lineardisplacement member, such as the I-beam 764, can be measured by anabsolute positioning system, sensor arrangement, and position sensorrepresented as position sensor 784. Because the I-beam 764 is coupled tothe longitudinally movable drive member, the position of the I-beam 764can be determined by measuring the position of the longitudinallymovable drive member employing the position sensor 784. Accordingly, inthe following description, the position, displacement, and/ortranslation of the I-beam 764 can be achieved by the position sensor 784as described herein. A control circuit 760 may be programmed to controlthe translation of the displacement member, such as the I-beam 764, asdescribed herein. The control circuit 760, in some examples, maycomprise one or more microcontrollers, microprocessors, or othersuitable processors for executing instructions that cause the processoror processors to control the displacement member, e.g., the I-beam 764,in the manner described. In one aspect, a timer/counter 781 provides anoutput signal, such as the elapsed time or a digital count, to thecontrol circuit 760 to correlate the position of the I-beam 764 asdetermined by the position sensor 784 with the output of thetimer/counter 781 such that the control circuit 760 can determine theposition of the I-beam 764 at a specific time (t) relative to a startingposition. The timer/counter 781 may be configured to measure elapsedtime, count external events, or time external events.

The control circuit 760 may generate a motor set point signal 772. Themotor set point signal 772 may be provided to a motor controller 758.The motor controller 758 may comprise one or more circuits configured toprovide a motor drive signal 774 to the motor 754 to drive the motor 754as described herein. In some examples, the motor 754 may be a brushed DCelectric motor. For example, the velocity of the motor 754 may beproportional to the motor drive signal 774. In some examples, the motor754 may be a brushless DC electric motor and the motor drive signal 774may comprise a PWM signal provided to one or more stator windings of themotor 754. Also, in some examples, the motor controller 758 may beomitted, and the control circuit 760 may generate the motor drive signal774 directly.

The motor 754 may receive power from an energy source 762. The energysource 762 may be or include a battery, a super capacitor, or any othersuitable energy source. The motor 754 may be mechanically coupled to theI-beam 764 via a transmission 756. The transmission 756 may include oneor more gears or other linkage components to couple the motor 754 to theI-beam 764. A position sensor 784 may sense a position of the I-beam764. The position sensor 784 may be or include any type of sensor thatis capable of generating position data that indicate a position of theI-beam 764. In some examples, the position sensor 784 may include anencoder configured to provide a series of pulses to the control circuit760 as the I-beam 764 translates distally and proximally. The controlcircuit 760 may track the pulses to determine the position of the I-beam764. Other suitable position sensors may be used, including, forexample, a proximity sensor. Other types of position sensors may provideother signals indicating motion of the I-beam 764. Also, in someexamples, the position sensor 784 may be omitted. Where the motor 754 isa stepper motor, the control circuit 760 may track the position of theI-beam 764 by aggregating the number and direction of steps that themotor has been instructed to execute. The position sensor 784 may belocated in the end effector 792 or at any other portion of theinstrument.

The control circuit 760 may be in communication with one or more sensors788. The sensors 788 may be positioned on the end effector 792 andadapted to operate with the surgical instrument 790 to measure thevarious derived parameters such as gap distance versus time, tissuecompression versus time, and anvil strain versus time. The sensors 788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge,a pressure sensor, a force sensor, an inductive sensor such as an eddycurrent sensor, a resistive sensor, a capacitive sensor, an opticalsensor, and/or any other suitable sensor for measuring one or moreparameters of the end effector 792. The sensors 788 may include one ormore sensors.

The one or more sensors 788 may comprise a strain gauge, such as amicro-strain gauge, configured to measure the magnitude of the strain inthe anvil 766 during a clamped condition. The strain gauge provides anelectrical signal whose amplitude varies with the magnitude of thestrain. The sensors 788 may comprise a pressure sensor configured todetect a pressure generated by the presence of compressed tissue betweenthe anvil 766 and the staple cartridge 768. The sensors 788 may beconfigured to detect impedance of a tissue section located between theanvil 766 and the staple cartridge 768 that is indicative of thethickness and/or fullness of tissue located therebetween.

The sensors 788 may be is configured to measure forces exerted on theanvil 766 by the closure drive system. For example, one or more sensors788 can be at an interaction point between a closure tube and the anvil766 to detect the closure forces applied by a closure tube to the anvil766. The forces exerted on the anvil 766 can be representative of thetissue compression experienced by the tissue section captured betweenthe anvil 766 and the staple cartridge 768. The one or more sensors 788can be positioned at various interaction points along the closure drivesystem to detect the closure forces applied to the anvil 766 by theclosure drive system. The one or more sensors 788 may be sampled in realtime during a clamping operation by a processor portion of the controlcircuit 760. The control circuit 760 receives real-time samplemeasurements to provide and analyze time-based information and assess,in real time, closure forces applied to the anvil 766.

A current sensor 786 can be employed to measure the current drawn by themotor 754. The force required to advance the I-beam 764 corresponds tothe current drawn by the motor 754. The force is converted to a digitalsignal and provided to the control circuit 760.

An RF energy source 794 is coupled to the end effector 792 and isapplied to the RF cartridge 796 when the RF cartridge 796 is loaded inthe end effector 792 in place of the staple cartridge 768. The controlcircuit 760 controls the delivery of the RF energy to the RF cartridge796.

Additional details are disclosed in U.S. patent application Ser. No.15/636,096, titled SURGICAL SYS1EM COUPLABLE WITH STAPLE CARTRIDGE ANDRADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed Jun. 28,2017, which is herein incorporated by reference in its entirety.

Generator Hardware

FIG. 20 is a simplified block diagram of a generator 800 configured toprovide inductorless tuning, among other benefits. Additional details ofthe generator 800 are described in U.S. Pat. No. 9,060,775, titledSURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, whichissued on Jun. 23, 2015, which is herein incorporated by reference inits entirety. The generator 800 may comprise a patient isolated stage802 in communication with a non-isolated stage 804 via a powertransformer 806. A secondary winding 808 of the power transformer 806 iscontained in the isolated stage 802 and may comprise a tappedconfiguration (e.g., a center-tapped or a non-center-tappedconfiguration) to define drive signal outputs 810 a, 810 b, 810 c fordelivering drive signals to different surgical instruments, such as, forexample, an ultrasonic surgical instrument, an RF electrosurgicalinstrument, and a multifunction surgical instrument which includesultrasonic and RF energy modes that can be delivered alone orsimultaneously. In particular, drive signal outputs 810 a, 810 c mayoutput an ultrasonic drive signal (e.g., a 420V root-mean-square (RMS)drive signal) to an ultrasonic surgical instrument, and drive signaloutputs 810 b, 810 c may output an RF electrosurgical drive signal(e.g., a 100V RMS drive signal) to an RF electrosurgical instrument,with the drive signal output 810 b corresponding to the center tap ofthe power transformer 806.

In certain forms, the ultrasonic and electrosurgical drive signals maybe provided simultaneously to distinct surgical instruments and/or to asingle surgical instrument, such as the multifunction surgicalinstrument, having the capability to deliver both ultrasonic andelectrosurgical energy to tissue. It will be appreciated that theelectrosurgical signal, provided either to a dedicated electrosurgicalinstrument and/or to a combined multifunction ultrasonic/electrosurgicalinstrument may be either a therapeutic or sub-therapeutic level signalwhere the sub-therapeutic signal can be used, for example, to monitortissue or instrument conditions and provide feedback to the generator.For example, the ultrasonic and RF signals can be delivered separatelyor simultaneously from a generator with a single output port in order toprovide the desired output signal to the surgical instrument, as will bediscussed in more detail below. Accordingly, the generator can combinethe ultrasonic and electrosurgical RF energies and deliver the combinedenergies to the multifunction ultrasonic/electrosurgical instrument.Bipolar electrodes can be placed on one or both jaws of the endeffector. One jaw may be driven by ultrasonic energy in addition toelectrosurgical RF energy, working simultaneously. The ultrasonic energymay be employed to dissect tissue, while the electrosurgical RF energymay be employed for vessel sealing.

The non-isolated stage 804 may comprise a power amplifier 812 having anoutput connected to a primary winding 814 of the power transformer 806.In certain forms, the power amplifier 812 may comprise a push-pullamplifier. For example, the non-isolated stage 804 may further comprisea logic device 816 for supplying a digital output to a digital-to-analogconverter (DAC) circuit 818, which in turn supplies a correspondinganalog signal to an input of the power amplifier 812. In certain forms,the logic device 816 may comprise a programmable gate array (PGA), aFPGA, programmable logic device (PLD), among other logic circuits, forexample. The logic device 816, by virtue of controlling the input of thepower amplifier 812 via the DAC circuit 818, may therefore control anyof a number of parameters (e.g., frequency, waveform shape, waveformamplitude) of drive signals appearing at the drive signal outputs 810 a,810 b, 810 c. In certain forms and as discussed below, the logic device816, in conjunction with a processor (e.g., a DSP discussed below), mayimplement a number of DSP-based and/or other control algorithms tocontrol parameters of the drive signals output by the generator 800.

Power may be supplied to a power rail of the power amplifier 812 by aswitch-mode regulator 820, e.g., a power converter. In certain forms,the switch-mode regulator 820 may comprise an adjustable buck regulator,for example. The non-isolated stage 804 may further comprise a firstprocessor 822, which in one form may comprise a DSP processor such as anAnalog Devices ADSP-21469 SHARC DSP, available from Analog Devices,Norwood, Mass., for example, although in various forms any suitableprocessor may be employed. In certain forms the DSP processor 822 maycontrol the operation of the switch-mode regulator 820 responsive tovoltage feedback data received from the power amplifier 812 by the DSPprocessor 822 via an ADC circuit 824. In one form, for example, the DSPprocessor 822 may receive as input, via the ADC circuit 824, thewaveform envelope of a signal (e.g., an RF signal) being amplified bythe power amplifier 812. The DSP processor 822 may then control theswitch-mode regulator 820 (e.g., via a PWM output) such that the railvoltage supplied to the power amplifier 812 tracks the waveform envelopeof the amplified signal. By dynamically modulating the rail voltage ofthe power amplifier 812 based on the waveform envelope, the efficiencyof the power amplifier 812 may be significantly improved relative to afixed rail voltage amplifier schemes.

In certain forms, the logic device 816, in conjunction with the DSPprocessor 822, may implement a digital synthesis circuit such as adirect digital synthesizer control scheme to control the waveform shape,frequency, and/or amplitude of drive signals output by the generator800. In one form, for example, the logic device 816 may implement a DDScontrol algorithm by recalling waveform samples stored in a dynamicallyupdated lookup table (LUT), such as a RAM LUT, which may be embedded inan FPGA. This control algorithm is particularly useful for ultrasonicapplications in which an ultrasonic transducer, such as an ultrasonictransducer, may be driven by a clean sinusoidal current at its resonantfrequency. Because other frequencies may excite parasitic resonances,minimizing or reducing the total distortion of the motional branchcurrent may correspondingly minimize or reduce undesirable resonanceeffects. Because the waveform shape of a drive signal output by thegenerator 800 is impacted by various sources of distortion present inthe output drive circuit (e.g., the power transformer 806, the poweramplifier 812), voltage and current feedback data based on the drivesignal may be input into an algorithm, such as an error controlalgorithm implemented by the DSP processor 822, which compensates fordistortion by suitably pre-distorting or modifying the waveform samplesstored in the LUT on a dynamic, ongoing basis (e.g., in real time). Inone form, the amount or degree of pre-distortion applied to the LUTsamples may be based on the error between a computed motional branchcurrent and a desired current waveform shape, with the error beingdetermined on a sample-by-sample basis. In this way, the pre-distortedLUT samples, when processed through the drive circuit, may result in amotional branch drive signal having the desired waveform shape (e.g.,sinusoidal) for optimally driving the ultrasonic transducer. In suchforms, the LUT waveform samples will therefore not represent the desiredwaveform shape of the drive signal, but rather the waveform shape thatis required to ultimately produce the desired waveform shape of themotional branch drive signal when distortion effects are taken intoaccount.

The non-isolated stage 804 may further comprise a first ADC circuit 826and a second ADC circuit 828 coupled to the output of the powertransformer 806 via respective isolation transformers 830, 832 forrespectively sampling the voltage and current of drive signals output bythe generator 800. In certain forms, the ADC circuits 826, 828 may beconfigured to sample at high speeds (e.g., 80 mega samples per second(MSPS)) to enable oversampling of the drive signals. In one form, forexample, the sampling speed of the ADC circuits 826, 828 may enableapproximately 200× (depending on frequency) oversampling of the drivesignals. In certain forms, the sampling operations of the ADC circuit826, 828 may be performed by a single ADC circuit receiving inputvoltage and current signals via a two-way multiplexer. The use ofhigh-speed sampling in forms of the generator 800 may enable, amongother things, calculation of the complex current flowing through themotional branch (which may be used in certain forms to implementDDS-based waveform shape control described above), accurate digitalfiltering of the sampled signals, and calculation of real powerconsumption with a high degree of precision. Voltage and currentfeedback data output by the ADC circuits 826, 828 may be received andprocessed (e.g., first-in-first-out (FIFO) buffer, multiplexer) by thelogic device 816 and stored in data memory for subsequent retrieval by,for example, the DSP processor 822. As noted above, voltage and currentfeedback data may be used as input to an algorithm for pre-distorting ormodifying LUT waveform samples on a dynamic and ongoing basis. Incertain forms, this may require each stored voltage and current feedbackdata pair to be indexed based on, or otherwise associated with, acorresponding LUT sample that was output by the logic device 816 whenthe voltage and current feedback data pair was acquired. Synchronizationof the LUT samples and the voltage and current feedback data in thismanner contributes to the correct timing and stability of thepre-distortion algorithm.

In certain forms, the voltage and current feedback data may be used tocontrol the frequency and/or amplitude (e.g., current amplitude) of thedrive signals In one form, for example, voltage and current feedbackdata may be used to determine impedance phase. The frequency of thedrive signal may then be controlled to minimize or reduce the differencebetween the determined impedance phase and an impedance phase setpoint(e.g., 0°), thereby minimizing or reducing the effects of harmonicdistortion and correspondingly enhancing impedance phase measurementaccuracy. The determination of phase impedance and a frequency controlsignal may be implemented in the DSP processor 822, for example, withthe frequency control signal being supplied as input to a DDS controlalgorithm implemented by the logic device 816.

In another form, for example, the current feedback data may be monitoredin order to maintain the current amplitude of the drive signal at acurrent amplitude setpoint. The current amplitude setpoint may bespecified directly or determined indirectly based on specified voltageamplitude and power setpoints. In certain forms, control of the currentamplitude may be implemented by control algorithm, such as, for example,a proportional-integral-derivative (PID) control algorithm, in the DSPprocessor 822. Variables controlled by the control algorithm to suitablycontrol the current amplitude of the drive signal may include, forexample, the scaling of the LUT waveform samples stored in the logicdevice 816 and/or the full-scale output voltage of the DAC circuit 818(which supplies the input to the power amplifier 812) via a DAC circuit834.

The non-isolated stage 804 may further comprise a second processor 836for providing, among other things user interface (UI) functionality. Inone form, the UI processor 836 may comprise an Atmel AT91SAM9263processor having an ARM 926EJ-S core, available from Atmel Corporation,San Jose, Calif., for example. Examples of UI functionality supported bythe UI processor 836 may include audible and visual user feedback,communication with peripheral devices (e.g., via a USB interface),communication with a foot switch, communication with an input device(e.g., a touch screen display) and communication with an output device(e.g., a speaker). The UI processor 836 may communicate with the DSPprocessor 822 and the logic device 816 (e.g., via SPI buses). Althoughthe UI processor 836 may primarily support UI functionality, it may alsocoordinate with the DSP processor 822 to implement hazard mitigation incertain forms. For example, the UI processor 836 may be programmed tomonitor various aspects of user input and/or other inputs (e.g., touchscreen inputs, foot switch inputs, temperature sensor inputs) and maydisable the drive output of the generator 800 when an erroneouscondition is detected.

In certain forms, both the DSP processor 822 and the UI processor 836,for example, may determine and monitor the operating state of thegenerator 800. For the DSP processor 822, the operating state of thegenerator 800 may dictate, for example, which control and/or diagnosticprocesses are implemented by the DSP processor 822. For the UI processor836, the operating state of the generator 800 may dictate, for example,which elements of a UI (e.g., display screens, sounds) are presented toa user. The respective DSP and UI processors 822, 836 may independentlymaintain the current operating state of the generator 800 and recognizeand evaluate possible transitions out of the current operating state.The DSP processor 822 may function as the master in this relationshipand determine when transitions between operating states are to occur.The UI processor 836 may be aware of valid transitions between operatingstates and may confirm if a particular transition is appropriate. Forexample, when the DSP processor 822 instructs the UI processor 836 totransition to a specific state, the UI processor 836 may verify thatrequested transition is valid. In the event that a requested transitionbetween states is determined to be invalid by the UI processor 836, theUI processor 836 may cause the generator 800 to enter a failure mode.

The non-isolated stage 804 may further comprise a controller 838 formonitoring input devices (e.g., a capacitive touch sensor used forturning the generator 800 on and off, a capacitive touch screen). Incertain forms, the controller 838 may comprise at least one processorand/or other controller device in communication with the UI processor836. In one form, for example, the controller 838 may comprise aprocessor (e.g., a Meg168 8-bit controller available from Atmel)configured to monitor user input provided via one or more capacitivetouch sensors. In one form, the controller 838 may comprise a touchscreen controller (e.g., a QT5480 touch screen controller available fromAtmel) to control and manage the acquisition of touch data from acapacitive touch screen.

In certain forms, when the generator 800 is in a “power off” state, thecontroller 838 may continue to receive operating power (e.g., via a linefrom a power supply of the generator 800, such as the power supply 854discussed below). In this way, the controller 838 may continue tomonitor an input device (e.g., a capacitive touch sensor located on afront panel of the generator 800) for turning the generator 800 on andoff. When the generator 800 is in the power off state, the controller838 may wake the power supply (e.g., enable operation of one or moreDC/DC voltage converters 856 of the power supply 854) if activation ofthe “on/off” input device by a user is detected. The controller 838 maytherefore initiate a sequence for transitioning the generator 800 to a“power on” state. Conversely, the controller 838 may initiate a sequencefor transitioning the generator 800 to the power off state if activationof the “on/off” input device is detected when the generator 800 is inthe power on state. In certain forms, for example, the controller 838may report activation of the “on/off” input device to the UI processor836, which in turn implements the necessary process sequence fortransitioning the generator 800 to the power off state. In such forms,the controller 838 may have no independent ability for causing theremoval of power from the generator 800 after its power on state hasbeen established.

In certain forms, the controller 838 may cause the generator 800 toprovide audible or other sensory feedback for alerting the user that apower on or power off sequence has been initiated. Such an alert may beprovided at the beginning of a power on or power off sequence and priorto the commencement of other processes associated with the sequence.

In certain forms, the isolated stage 802 may comprise an instrumentinterface circuit 840 to, for example, provide a communication interfacebetween a control circuit of a surgical instrument (e.g., a controlcircuit comprising handpiece switches) and components of thenon-isolated stage 804, such as, for example, the logic device 816, theDSP processor 822, and/or the UI processor 836. The instrument interfacecircuit 840 may exchange information with components of the non-isolatedstage 804 via a communication link that maintains a suitable degree ofelectrical isolation between the isolated and non-isolated stages 802,804, such as, for example, an IR-based communication link. Power may besupplied to the instrument interface circuit 840 using, for example, alow-dropout voltage regulator powered by an isolation transformer drivenfrom the non-isolated stage 804.

In one form, the instrument interface circuit 840 may comprise a logiccircuit 842 (e.g., logic circuit, programmable logic circuit, PGA, FPGA,PLD) in communication with a signal conditioning circuit 844. The signalconditioning circuit 844 may be configured to receive a periodic signalfrom the logic circuit 842 (e.g., a 2 kHz square wave) to generate abipolar interrogation signal having an identical frequency. Theinterrogation signal may be generated, for example, using a bipolarcurrent source fed by a differential amplifier. The interrogation signalmay be communicated to a surgical instrument control circuit (e.g., byusing a conductive pair in a cable that connects the generator 800 tothe surgical instrument) and monitored to determine a state orconfiguration of the control circuit. The control circuit may comprise anumber of switches, resistors, and/or diodes to modify one or morecharacteristics (e.g., amplitude, rectification) of the interrogationsignal such that a state or configuration of the control circuit isuniquely discernable based on the one or more characteristics. In oneform, for example, the signal conditioning circuit 844 may comprise anADC circuit for generating samples of a voltage signal appearing acrossinputs of the control circuit resulting from passage of interrogationsignal therethrough. The logic circuit 842 (or a component of thenon-isolated stage 804) may then determine the state or configuration ofthe control circuit based on the ADC circuit samples.

In one form, the instrument interface circuit 840 may comprise a firstdata circuit interface 846 to enable information exchange between thelogic circuit 842 (or other element of the instrument interface circuit840) and a first data circuit disposed in or otherwise associated with asurgical instrument. In certain forms, for example, a first data circuitmay be disposed in a cable integrally attached to a surgical instrumenthandpiece or in an adaptor for interfacing a specific surgicalinstrument type or model with the generator 800. The first data circuitmay be implemented in any suitable manner and may communicate with thegenerator according to any suitable protocol, including, for example, asdescribed herein with respect to the first data circuit. In certainforms, the first data circuit may comprise a non-volatile storagedevice, such as an EEPROM device. In certain forms, the first datacircuit interface 846 may be implemented separately from the logiccircuit 842 and comprise suitable circuitry (e.g., discrete logicdevices, a processor) to enable communication between the logic circuit842 and the first data circuit. In other forms, the first data circuitinterface 846 may be integral with the logic circuit 842.

In certain forms, the first data circuit may store informationpertaining to the particular surgical instrument with which it isassociated. Such information may include, for example, a model number, aserial number, a number of operations in which the surgical instrumenthas been used, and/or any other type of information. This informationmay be read by the instrument interface circuit 840 (e.g., by the logiccircuit 842), transferred to a component of the non-isolated stage 804(e.g., to logic device 816, DSP processor 822, and/or UI processor 836)for presentation to a user via an output device and/or for controlling afunction or operation of the generator 800. Additionally, any type ofinformation may be communicated to the first data circuit for storagetherein via the first data circuit interface 846 (e.g., using the logiccircuit 842). Such information may comprise, for example, an updatednumber of operations in which the surgical instrument has been usedand/or dates and/or times of its usage.

As discussed previously, a surgical instrument may be detachable from ahandpiece (e.g., the multifunction surgical instrument may be detachablefrom the handpiece) to promote instrument interchangeability and/ordisposability. In such cases, conventional generators may be limited intheir ability to recognize particular instrument configurations beingused and to optimize control and diagnostic processes accordingly. Theaddition of readable data circuits to surgical instruments to addressthis issue is problematic from a compatibility standpoint, however. Forexample, designing a surgical instrument to remain backwardly compatiblewith generators that lack the requisite data reading functionality maybe impractical due to, for example, differing signal schemes, designcomplexity, and cost. Forms of instruments discussed herein addressthese concerns by using data circuits that may be implemented inexisting surgical instruments economically and with minimal designchanges to preserve compatibility of the surgical instruments withcurrent generator platforms.

Additionally, forms of the generator 800 may enable communication withinstrument-based data circuits. For example, the generator 800 may beconfigured to communicate with a second data circuit contained in aninstrument (e.g., the multifunction surgical instrument). In some forms,the second data circuit may be implemented in a many similar to that ofthe first data circuit described herein. The instrument interfacecircuit 840 may comprise a second data circuit interface 848 to enablethis communication. In one form, the second data circuit interface 848may comprise a tri-state digital interface, although other interfacesmay also be used. In certain forms, the second data circuit maygenerally be any circuit for transmitting and/or receiving data. In oneform, for example, the second data circuit may store informationpertaining to the particular surgical instrument with which it isassociated. Such information may include, for example, a model number, aserial number, a number of operations in which the surgical instrumenthas been used, and/or any other type of information.

In some forms, the second data circuit may store information about theelectrical and/or ultrasonic properties of an associated ultrasonictransducer, end effector, or ultrasonic drive system. For example, thefirst data circuit may indicate a burn-in frequency slope, as describedherein. Additionally or alternatively, any type of information may becommunicated to second data circuit for storage therein via the seconddata circuit interface 848 (e.g., using the logic circuit 842). Suchinformation may comprise, for example, an updated number of operationsin which the instrument has been used and/or dates and/or times of itsusage. In certain forms, the second data circuit may transmit dataacquired by one or more sensors (e.g., an instrument-based temperaturesensor). In certain forms, the second data circuit may receive data fromthe generator 800 and provide an indication to a user (e.g., a lightemitting diode indication or other visible indication) based on thereceived data.

In certain forms, the second data circuit and the second data circuitinterface 848 may be configured such that communication between thelogic circuit 842 and the second data circuit can be effected withoutthe need to provide additional conductors for this purpose (e.g.,dedicated conductors of a cable connecting a handpiece to the generator800). In one form, for example, information may be communicated to andfrom the second data circuit using a one-wire bus communication schemeimplemented on existing cabling, such as one of the conductors usedtransmit interrogation signals from the signal conditioning circuit 844to a control circuit in a handpiece. In this way, design changes ormodifications to the surgical instrument that might otherwise benecessary are minimized or reduced. Moreover, because different types ofcommunications implemented over a common physical channel can befrequency-band separated, the presence of a second data circuit may be“invisible” to generators that do not have the requisite data readingfunctionality, thus enabling backward compatibility of the surgicalinstrument.

In certain forms, the isolated stage 802 may comprise at least oneblocking capacitor 850-1 connected to the drive signal output 810 b toprevent passage of DC current to a patient. A single blocking capacitormay be required to comply with medical regulations or standards, forexample. While failure in single-capacitor designs is relativelyuncommon, such failure may nonetheless have negative consequences. Inone form, a second blocking capacitor 850-2 may be provided in serieswith the blocking capacitor 850-1, with current leakage from a pointbetween the blocking capacitors 850-1, 850-2 being monitored by, forexample, an ADC circuit 852 for sampling a voltage induced by leakagecurrent. The samples may be received by the logic circuit 842, forexample. Based changes in the leakage current (as indicated by thevoltage samples), the generator 800 may determine when at least one ofthe blocking capacitors 850-1, 850-2 has failed, thus providing abenefit over single-capacitor designs having a single point of failure.

In certain forms, the non-isolated stage 804 may comprise a power supply854 for delivering DC power at a suitable voltage and current. The powersupply may comprise, for example, a 400 W power supply for delivering a48 VDC system voltage. The power supply 854 may further comprise one ormore DC/DC voltage converters 856 for receiving the output of the powersupply to generate DC outputs at the voltages and currents required bythe various components of the generator 800. As discussed above inconnection with the controller 838, one or more of the DC/DC voltageconverters 856 may receive an input from the controller 838 whenactivation of the “on/off” input device by a user is detected by thecontroller 838 to enable operation of, or wake, the DC/DC voltageconverters 856.

FIG. 21 illustrates an example of a generator 900, which is one form ofthe generator 800 (FIG. 20). The generator 900 is configured to delivermultiple energy modalities to a surgical instrument. The generator 900provides RF and ultrasonic signals for delivering energy to a surgicalinstrument either independently or simultaneously. The RF and ultrasonicsignals may be provided alone or in combination and may be providedsimultaneously. As noted above, at least one generator output candeliver multiple energy modalities (e.g., ultrasonic, bipolar ormonopolar RF, irreversible and/or reversible electroporation, and/ormicrowave energy, among others) through a single port, and these signalscan be delivered separately or simultaneously to the end effector totreat tissue. The generator 900 comprises a processor 902 coupled to awaveform generator 904. The processor 902 and waveform generator 904 areconfigured to generate a variety of signal waveforms based oninformation stored in a memory coupled to the processor 902, not shownfor clarity of disclosure. The digital information associated with awaveform is provided to the waveform generator 904 which includes one ormore DAC circuits to convert the digital input into an analog output.The analog output is fed to an amplifier 1106 for signal conditioningand amplification. The conditioned and amplified output of the amplifier906 is coupled to a power transformer 908. The signals are coupledacross the power transformer 908 to the secondary side, which is in thepatient isolation side. A first signal of a first energy modality isprovided to the surgical instrument between the terminals labeledENERGY1 and RETURN. A second signal of a second energy modality iscoupled across a capacitor 910 and is provided to the surgicalinstrument between the terminals labeled ENERGY2 and RETURN. It will beappreciated that more than two energy modalities may be output and thusthe subscript “n” may be used to designate that up to n ENERGYnterminals may be provided, where n is a positive integer greater than 1.It also will be appreciated that up to “n” return paths RETURNn may beprovided without departing from the scope of the present disclosure.

A first voltage sensing circuit 912 is coupled across the terminalslabeled ENERGY1 and the RETURN path to measure the output voltagetherebetween. A second voltage sensing circuit 924 is coupled across theterminals labeled ENERGY2 and the RETURN path to measure the outputvoltage therebetween. A current sensing circuit 914 is disposed inseries with the RETURN leg of the secondary side of the powertransformer 908 as shown to measure the output current for either energymodality. If different return paths are provided for each energymodality, then a separate current sensing circuit should be provided ineach return leg. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to respective isolation transformers 916,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 918. The outputs of the isolationtransformers 916, 928, 922 in the on the primary side of the powertransformer 908 (non-patient isolated side) are provided to a one ormore ADC circuit 926.

The digitized output of the ADC circuit 926 is provided to the processor902 for further processing and computation. The output voltages andoutput current feedback information can be employed to adjust the outputvoltage and current provided to the surgical instrument and to computeoutput impedance, among other parameters. Input/output communicationsbetween the processor 902 and patient isolated circuits is providedthrough an interface circuit 920. Sensors also may be in electricalcommunication with the processor 902 by way of the interface circuit920.

In one aspect, the impedance may be determined by the processor 902 bydividing the output of either the first voltage sensing circuit 912coupled across the terminals labeled ENERGY1/RETURN or the secondvoltage sensing circuit 924 coupled across the terminals labeledENERGY2/RETURN by the output of the current sensing circuit 914 disposedin series with the RETURN leg of the secondary side of the powertransformer 908. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to separate isolations transformers 916,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 916. The digitized voltage and currentsensing measurements from the ADC circuit 926 are provided the processor902 for computing impedance. As an example, the first energy modalityENERGY1 may be ultrasonic energy and the second energy modality ENERGY2may be RF energy. Nevertheless, in addition to ultrasonic and bipolar ormonopolar RF energy modalities, other energy modalities includeirreversible and/or reversible electroporation and/or microwave energy,among others. Also, although the example illustrated in FIG. 21 shows asingle return path RETURN may be provided for two or more energymodalities, in other aspects, multiple return paths RETURNn may beprovided for each energy modality ENERGYn. Thus, as described herein,the ultrasonic transducer impedance may be measured by dividing theoutput of the first voltage sensing circuit 912 by the current sensingcircuit 914 and the tissue impedance may be measured by dividing theoutput of the second voltage sensing circuit 924 by the current sensingcircuit 914.

As shown in FIG. 21, the generator 900 comprising at least one outputport can include a power transformer 908 with a single output and withmultiple taps to provide power in the form of one or more energymodalities, such as ultrasonic, bipolar or monopolar RF, irreversibleand/or reversible electroporation, and/or microwave energy, amongothers, for example, to the end effector depending on the type oftreatment of tissue being performed. For example, the generator 900 candeliver energy with higher voltage and lower current to drive anultrasonic transducer, with lower voltage and higher current to drive RFelectrodes for sealing tissue, or with a coagulation waveform for spotcoagulation using either monopolar or bipolar RF electrosurgicalelectrodes. The output waveform from the generator 900 can be steered,switched, or filtered to provide the frequency to the end effector ofthe surgical instrument. The connection of an ultrasonic transducer tothe generator 900 output would be preferably located between the outputlabeled ENERGY1 and RETURN as shown in FIG. 21. In one example, aconnection of RF bipolar electrodes to the generator 900 output would bepreferably located between the output labeled ENERGY2 and RETURN. In thecase of monopolar output, the preferred connections would be activeelectrode (e.g., pencil or other probe) to the ENERGY2 output and asuitable return pad connected to the RETURN output.

Additional details are disclosed in U.S. Patent Application PublicationNo. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FORDIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS, which published on Mar. 30, 2017, which is hereinincorporated by reference in its entirety.

As used throughout this description, the term “wireless” and itsderivatives may be used to describe circuits, devices, systems, methods,techniques, communications channels, etc., that may communicate datathrough the use of modulated electromagnetic radiation through anon-solid medium. The term does not imply that the associated devices donot contain any wires, although in some aspects they might not. Thecommunication module may implement any of a number of wireless or wiredcommunication standards or protocols, including but not limited to Wi-Fi(IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long termevolution (L IL), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA,TDMA, DECT, Bluetooth, Ethernet derivatives thereof, as well as anyother wireless and wired protocols that are designated as 3G, 4G, 5G,and beyond. The computing module may include a plurality ofcommunication modules. For instance, a first communication module may bededicated to shorter range wireless communications such as Wi-Fi andBluetooth and a second communication module may be dedicated to longerrange wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE,Ev-DO, and others.

As used herein a processor or processing unit is an electronic circuitwhich performs operations on some external data source, usually memoryor some other data stream. The term is used herein to refer to thecentral processor (central processing unit) in a system or computersystems (especially systems on a chip (SoCs)) that combine a number ofspecialized “processors.”

As used herein, a system on a chip or system on chip (SoC or SOC) is anintegrated circuit (also known as an “IC” or “chip”) that integrates allcomponents of a computer or other electronic systems. It may containdigital, analog, mixed-signal, and often radio-frequency functions—allon a single substrate. A SoC integrates a microcontroller (ormicroprocessor) with advanced peripherals like graphics processing unit(GPU), Wi-Fi module, or coprocessor. A SoC may or may not containbuilt-in memory.

As used herein, a microcontroller or controller is a system thatintegrates a microprocessor with peripheral circuits and memory. Amicrocontroller (or MCU for microcontroller unit) may be implemented asa small computer on a single integrated circuit. It may be similar to aSoC; an SoC may include a microcontroller as one of its components. Amicrocontroller may contain one or more core processing units (CPUs)along with memory and programmable input/output peripherals. Programmemory in the form of Ferroelectric RAM, NOR flash or OTP ROM is alsooften included on chip, as well as a small amount of RAM.Microcontrollers may be employed for embedded applications, in contrastto the microprocessors used in personal computers or other generalpurpose applications consisting of various discrete chips.

As used herein, the term controller or microcontroller may be astand-alone IC or chip device that interfaces with a peripheral device.This may be a link between two parts of a computer or a controller on anexternal device that manages the operation of (and connection with) thatdevice.

Any of the processors or microcontrollers described herein, may beimplemented by any single core or multicore processor such as thoseknown under the trade name ARM Cortex by Texas Instruments. In oneaspect, the processor may be an LM4F230H5QR ARM Cortex-M4F ProcessorCore, available from Texas Instruments, for example, comprising on-chipmemory of 256 KB single-cycle flash memory, or other non-volatilememory, up to 40 MHz, a prefetch buffer to improve performance above 40MHz, a 32 KB single-cycle serial random access memory (SRAM), internalread-only memory (ROM) loaded with StellarisWare® software, 2 KBelectrically erasable programmable read-only memory (EEPROM), one ormore pulse width modulation (PWM) modules, one or more quadratureencoder inputs (QEI) analog, one or more 12-bit Analog-to-DigitalConverters (ADC) with 12 analog input channels, details of which areavailable for the product datasheet.

In one aspect, the processor may comprise a safety controller comprisingtwo controller-based families such as TMS570 and RM4x known under thetrade name Hercules ARM Cortex R4, also by Texas Instruments. The safetycontroller may be configured specifically for IEC 61508 and ISO 26262safety critical applications, among others, to provide advancedintegrated safety features while delivering scalable performance,connectivity, and memory options.

Modular devices include the modules (as described in connection withFIGS. 3 and 9, for example) that are receivable within a surgical huband the surgical devices or instruments that can be connected to thevarious modules in order to connect or pair with the correspondingsurgical hub. The modular devices include, for example, intelligentsurgical instruments, medical imaging devices, suction/irrigationdevices, smoke evacuators, energy generators, ventilators, insufflators,and displays. The modular devices described herein can be controlled bycontrol algorithms. The control algorithms can be executed on themodular device itself, on the surgical hub to which the particularmodular device is paired, or on both the modular device and the surgicalhub (e.g., via a distributed computing architecture). In someexemplifications, the modular devices' control algorithms control thedevices based on data sensed by the modular device itself (i.e., bysensors in, on, or connected to the modular device). This data can berelated to the patient being operated on (e.g., tissue properties orinsufflation pressure) or the modular device itself (e.g., the rate atwhich a knife is being advanced, motor current, or energy levels). Forexample, a control algorithm for a surgical stapling and cuttinginstrument can control the rate at which the instrument's motor drivesits knife through tissue according to resistance encountered by theknife as it advances.

Long Distance Communication and Condition Handling of Devices and Data

Surgical procedures are performed by different surgeons at differentlocations, some with much less experience than others. For a givensurgical procedure, there are many parameters that can be varied toattempt to realize a desired outcome. For example, for a given surgicalprocedure which utilizes energy supplied by a generator, the surgeonoften relies on experience alone for determining which mode of energy toutilize, which level of output power to utilize, the duration of theapplication of the energy, etc., in order to attempt to realize thedesired outcome. To increase the likelihood of realizing desiredoutcomes for a plurality of different surgical procedures, each surgeonshould be provided with best practice recommendations which are based onimportant relationships identified within large, accurate data sets ofinformation associated with multiple surgical procedures performed inmultiple locations over time. However, there are many ways that suchdata sets can be rendered compromised, inaccurate, and/or unsecure,thereby calling into question the applicability of the best practicerecommendations derived therefrom. For example, for data sent from asource to a cloud-based system, the data can be lost while in transit tothe cloud-based system, the data can be corrupted while in transit tothe cloud-based system, the confidentiality of the data can be comprisedwhile in transit to the cloud-based system, and/or the content of thedata can be altered while in transit to the cloud-based system.

A plurality of operating rooms located in multiple locations can each beequipped with a surgical hub. When a given surgical procedure isperformed in a given operating room, the surgical hub can receive dataassociated with the surgical procedure and communicate the data to acloud-based system. Over time, the cloud-based system will receive largedata sets of information associated with the surgeries. The data can becommunicated from the surgical hubs to the cloud-based system in amanner which allows for the cloud-based system to (1) verify theauthenticity of the communicated data, (2) authenticate each of therespective surgical hubs which communicated the data, and (3) trace thepaths the data followed from the respective surgical hubs to thecloud-based system.

Accordingly, in one aspect, the present disclosure provides a surgicalhub for transmitting generator data associated with a surgical procedureto a cloud-based system communicatively coupled to a plurality ofsurgical hubs. The surgical hub comprises a processor and a memorycoupled to the processor. The memory stores instructions executable bythe processor to receive data from a generator, encrypt the data,generate a message authentication code (MAC) based on the data, generatea datagram comprising the encrypted data, the generated MAC, a sourceidentifier, and a destination identifier, and transmit the datagram to acloud-based system. The data is structured into a data packet comprisingat least two of the following fields: a field that indicates the sourceof the data, a unique time stamp, a field indicating an energy mode ofthe generator, a field indicating the power output of the generator, anda field indicating a duration of the power output of the generator. Thedatagram allows for the cloud-based system to decrypt the encrypted dataof the transmitted datagram, verify integrity of the data based on theMAC, authenticate the surgical hub as the source of the datagram, andvalidate a transmission path followed by the datagram between thesurgical hub and the cloud-based system. In various aspects, the presentdisclosure provides a control circuit to transmit generator dataassociated with a surgical procedure to a cloud-based systemcommunicatively coupled to a plurality of surgical hubs, as describedabove. In various aspects, the present disclosure provides anon-transitory computer-readable medium storing computer-readableinstructions which, when executed, causes a machine to transmitgenerator data associated with a surgical procedure to a cloud-basedsystem communicatively coupled to a plurality of surgical hubs, asdescribed above.

In another aspect, the present disclosure provides a cloud-based systemcommunicatively coupled to a plurality of surgical hubs. Each surgicalhub is configured to transmit generator data associated with a surgicalprocedure to the cloud-based system. The cloud-based system comprises aprocessor and a memory coupled to the processor. The memory storesinstructions executable by the processor to receive a datagram generatedby a surgical hub, decrypt the encrypted generator data of the receiveddatagram, verify integrity of the generator data based on the MAC,authenticate the surgical hub as the source of the datagram, andvalidate a transmission path followed by the datagram between thesurgical hub and the cloud-based system. The datagram comprisesgenerator data captured from a generator associated with the surgicalhub, a MAC generated by the surgical hub based on the generator data, asource identifier, and a destination identifier. The generator data hasbeen encrypted by the surgical hub. The encrypted generator data hasbeen structured into a data packet comprising at least two of thefollowing fields: a field that indicates the source of the data, aunique time stamp, a field indicating an energy mode, a field indicatingpower output, and a field indicating a duration of applied power.

In various aspects, the present disclosure provides a control circuit totransmit generator data associated with a surgical procedure to thecloud-based system. In various aspects, the present disclosure providesa non-transitory computer-readable medium storing computer-readableinstructions which, when executed, causes a machine to transmitgenerator data associated with a surgical procedure to the cloud-basedsystem.

In another aspect, the present disclosure provides a method, comprisingcapturing data from a combination generator of a surgical hub during asurgical procedure, wherein the combination generator is configured tosupply two or more different modes of energy. Encrypting the capturedgenerator data, generating a MAC based on the captured generator data,generating a datagram comprising the encrypted generator data, the MAC,a source identifier, and a destination identifier, and communicating thedatagram from the surgical hub to a cloud-based system. The datagramallows for the cloud-based system to authenticate integrity of thecommunicated generator data, authenticate the surgical hub as a sourceof the datagram, and determine a communication path followed by thedatagram between the surgical hub and the cloud-based system.

By sending captured generator data from a plurality of differentsurgical hubs to a cloud-based system, the cloud-based system is able toquickly build large data sets of information associated with multiplesurgical procedures performed in multiple locations over time.Furthermore, due to the composition of the respective datagrams, for agiven datagram, the cloud-based system is able to determine whether thedatagram was originally sent by one of the surgical hubs (sourcevalidation), thereby providing an indication that the generator datareceived at the cloud-based system is legitimate data. For the givendatagram, the cloud-based system is also able to determine whether thegenerator data received at the cloud-based system is identical to thegenerator data sent by the given surgical hub (data integrity), therebyallowing for the authenticity of the received generator data to beverified. Additionally, for the given datagram, the cloud-based systemis also able to re-trace the communication path followed by thedatagram, thereby allowing for enhanced troubleshooting if a datagramreceived by the cloud-based system was originally sent from a deviceother than the surgical hubs and/or if the content of the datagram wasaltered while in transit to the cloud-based system. Notably, the presentdisclosure references generator data in particular. Here, the presentdisclosure should not be limited as being able to process only generatordata. For example, the surgical hub 206 and/or the cloud-based system205 may process data received from any component (e.g., imaging module238, generator module 240, smoke evacuator module 226, suction/irrigation module 228, communication module 230, processor module 232,storage array 234, smart device/instrument 235, non-contact sensormodule 242, robot hub 222, a non-robotic surgical hub 206, wirelesssmart device/instrument 235, visualization system 208) of the surgicalsystem 202 that is coupled to the surgical hub 206 and/or data from anydevices (e.g., endoscope 239, energy device 241) coupled to/through suchcomponents (e.g., see FIGS. 9-10), in a similar manner as discussedherein.

Unfortunately, the outcome of a surgical procedure is not always optimalFor example, a failure event such as a surgical device failure, anunwanted tissue perforation, an unwanted post-operative bleeding, or thelike can occur. The occurrence of a failure event can be attributed toany of a variety of different people and devices, including one or moresurgeons, one or more devices associated with the surgery, a conditionof the patient, and combinations thereof. When a given failure eventoccurs, it is not always clear regarding who or what caused the failureevent or how the occurrence of the failure event can be mitigated inconnection with a future surgery.

During a given surgical procedure, a large amount of data associatedwith the surgical procedure can be generated and captured. All of thecaptured data can be communicated to a surgical hub, and the captureddata can be time-stamped either before or after being received at thesurgical hub. When a failure event associated with the surgicalprocedure is detected and/or identified, it can be determined which ofthe captured data is associated with the failure event and/or which ofthe captured data is not associated with the failure event. In makingthis determination, the failure event can be defined to include a periodof time prior to the detection/identification of the failure event. Oncethe determination is made regarding the captured data associated withthe failure event, the surgical hub can separate the captured dataassociated with the failure event from all other captured data, and thecaptured data can be separated based on tagging, flagging, or the like.The captured data associated with the failure event can then bechronologized based on the time-stamping and the defined time periodapplicable to the failure event. The chronologized captured data canthen be communicated to a cloud-based system on a prioritized basis foranalysis, where the prioritized basis is relative to the captured datawhich is not associated with the failure event. Whether or not theanalysis identifies a device associated with the surgical procedure asthe causation of the failure event, the surgical hub can tag the devicefor removal of the device from future use, further analysis of thedevice, and/or to return the device to the manufacturer.

When a given surgical procedure is performed, a large amount of dataassociated with the surgical procedure can be generated and captured.All of the captured data can be communicated to a surgical hub, wherethe information can be stripped of all “personal” associations. Thecaptured data can be time-stamped before being received at the surgicalhub, after being received at the surgical hub, before being stripped ofthe “personal” associations, or after being stripped of the “personal”associations. The surgical hub can communicate the stripped data to thecloud-based system for subsequent analysis. Over time, the cloud-basedsystem will receive large data sets of information associated with thesurgeries.

Accordingly, in one aspect, the present disclosure provides a surgicalhub for prioritizing surgical data associated with a surgical procedureto a cloud-based system communicatively coupled to a plurality ofsurgical hubs. The surgical hub comprises a processor and a memorycoupled to the processor. The memory stores instructions executable bythe processor to capture surgical data, wherein the surgical datacomprises data associated with a surgical device, time-stamp thecaptured surgical data, identify a failure event, identify a time periodassociated with the failure event, isolate failure event surgical datafrom surgical data not associated with the failure event based on theidentified time period, chronologize the failure event surgical data bytime-stamp, encrypt the chronologized failure event surgical data,generate a datagram comprising the encrypted failure event surgicaldata, and transmit the datagram to a cloud-based system. The datagram isstructured to include a field which includes a flag that prioritizes theencrypted failure event surgical data over other encrypted data of thedatagram. The datagram allows for the cloud-based system to decrypt theencrypted failure event surgical data, focus analysis on the failureevent surgical data rather than surgical data not associated with thefailure event, and flag the surgical device associated with the failureevent for at least one of the following: removal from an operating room,return to a manufacturer, or future inoperability in the cloud-basedsystem.

In various aspects, the present disclosure provides a control circuit toprioritize surgical data associated with a surgical procedure to acloud-based system communicatively coupled to a plurality of surgicalhubs. In various aspects, the present disclosure provides anon-transitory computer-readable medium storing computer-readableinstructions which, when executed, causes a machine to prioritizesurgical data associated with a surgical procedure to a cloud-basedsystem communicatively coupled to a plurality of surgical hubs.

In another aspect, the present disclosure provides a method, comprisingcapturing data during a surgical procedure, communicating the captureddata to a surgical hub, time-stamping the captured data, identifying afailure event associated with the surgical procedure, determining whichof the captured data is associated with the failure event, separatingthe captured data associated with the failure event from all othercaptured data, chronologizing the captured data associated with thefailure event, and communicating the chronologized captured data to acloud-based system on a prioritized basis.

By capturing the large amount of data associated with the surgicalprocedure, and with having the captured data time-stamped, the portionof the captured data which is relevant to the detected/identifiedfailure event can be more easily isolated from all of the other captureddata, thereby allowing for a more focused subsequent analysis on justthe relevant captured data. The data associated with the failure eventcan then be chronologized (this requires less processing power thanchronologizing all of the captured data), thereby allowing for theevents leading up to the detection/identification of the failure eventto be more easily considered during the subsequent analysis of thefailure event. The chronologized data can then be communicated to thecloud-based system (this requires less communication resources thancommunicating all of the captured data at the same time) on aprioritized basis, thereby allowing for the focused subsequent analysisof the fault event to be performed by the cloud-based system in a moretime-sensitive manner.

To help ensure that the best practice recommendations are developedbased on accurate data, it would be desirable to ensure that thegenerator data received at the cloud-based system is the same as thegenerator data communicated to the cloud-based system. Also, to help tobe able to determine the cause of a failure event as quickly aspossible, it would be desirable to ensure that surgical data associatedwith the failure event is communicated to the cloud-based system in aprioritized manner (relative to surgical data not associated with thefailure event) so that analysis of the surgical data can be performed inan expedited manner.

Aspects of a system and method for communicating data associated with asurgical procedure are described herein. As shown in FIG. 9, variousaspects of the computer implemented interactive surgical system 200includes a device/instrument 235, a generator module 240, a modularcontrol tower 236, and a cloud-based system 205. As shown in FIG. 10,the device/instrument 235, the generator module 240, and the modularcontrol tower 236 are components/portions of a surgical hub 206.

In various aspects, the generator module 240 of the surgical hub 206 cansupply radio-frequency energy such as monopolar radio-frequency energy,bipolar radio-frequency energy, and advanced bipolar energy and/orultrasonic energy to a device/instrument 235 for use in a surgicalprocedure. Thus, the generator module 240 may be referred to as acombination generator. An example of such a combination generator isshown in FIG. 22, where the combination generator 3700 is shown asincluding a monopolar module 3702, a bipolar module 3704, an advancedbipolar module 3706, and an ultrasound module 3708. When utilized duringa surgical procedure, the respective energy modules (e.g., 3702, 3704,3706, and/or 3708) of the combination generator 3700 can providegenerator data such as type of energy supplied to the device instrument(e.g., radio-frequency energy, ultrasound energy, radio-frequency energyand ultrasound energy), type of radio-frequency energy (e.g., monoplar,bipolar, advanced bipolar), frequency, power output, duration, etc., tothe data communication module 3710 of the combination generator 3700.

FIG. 23 illustrates various aspects of a method of capturing data from acombination generator 3700 and communicating the captured generator datato a cloud-based system 205. Notably, as discussed herein, the presentdisclosure should not be limited to processing generator data. As such,the method of FIG. 23 similarly extends to other types of data receivedfrom other components coupled to the surgical hub 206 (e.g., imagingmodule data, smoke evacuator data, suction/irrigation data,device/instrument data). The method comprises (1) capturing 3712 datafrom a combination generator 3700 of a surgical hub 206 during asurgical procedure, wherein the combination generator 3700 is configuredto supply two or more different modes of energy; (2) encrypting 3714 thecaptured generator data; (3) generating 3716 a MAC based on the capturedgenerator data; (4) generating 3718 a datagram comprising the encryptedgenerator data, the MAC, a source identifier, and a destinationidentifier; and (5) communicating 3720 the datagram from the surgicalhub 206 to a cloud-based system 205, wherein the datagram allows for thecloud-based system 205 to (i) authenticate integrity of the communicatedgenerator data, (ii) authenticate the surgical hub as a source of thedatagram, and (iii) determine a communication path followed by thedatagram between the surgical hub 206 and the cloud-based system 205.

More specifically, once the generator data is received at the datacommunication module 3710 of the combination generator 3700, thegenerator data can be communicated to the modular communication hub 203of the surgical hub 206 for subsequent communication to the cloud-basedsystem 205. The data communication module 3710 can communicate thegenerator data to the modular communication hub 203 serially over asingle communication line or in parallel over a plurality ofcommunication lines, and such communication can be performed in realtime or near real time. Alternatively, such communication can beperformed in batches.

According to various aspects, prior to communicating the generator datato the modular communication hub 203, a component of the combinationgenerator 3700 (e.g., the data communication module 3710) can organizethe generator data into data packets. An example of such a data packetis shown in FIG. 24, where the data packet 3722 includes a preamble 3724or self-describing data header which defines what the data is (e.g.,combination generator data—CGD) and fields which indicate where thegenerator data came from [e.g., combination generator ID number3726—(e.g., 017), a unique time stamp 3728 (e.g., 08:27:16), the energymode utilized 3730 (e.g., RF, U, RF+U), the type of radio-frequencyenergy or radio frequency mode 3732 (e.g., MP, BP, ABP), the frequency3734 (e.g., 500 Khz), the power output 3736 (e.g., 30 watts), theduration of applied power 3738 (e.g., 45 milliseconds), and anauthentication/identification certificate of the data point 3740 (e.g.,01101011001011). The example data packet 3722 may be considered aself-describing data packet, and the combination generator 3700 andother intelligent devices (e.g., the surgical hub 206) can use theself-describing data packets to minimize data size and data-handlingresources Again, as discussed herein, the present disclosure should notbe limited to processing generator data received from a combinationgenerator 3700. As such, the data packet 3722 of FIG. 24 similarlyextends to other types of data received from other components coupled tothe surgical hub 206. In one aspect, the data packet 3722 may comprisedata associated with endoscope 239 (e.g., image data) received from acomponent of the imaging module 238. In another aspect, the data packet3722 may comprises data associated with an evacuation system (e.g.,pressures, particle counts, flow rates, motor speeds) received from acomponent of the smoke evacuator module 226. In yet another aspect, thedata packet 3722 may comprise data associated with a device/instrument(e.g., temperature sensor data, firing data, sealing data) received froma component of the device/instrument 235. In various other aspects, thedata packet 3722 may similarly comprise data received from othercomponents coupled to the surgical hub 206 (e.g., suction/irrigationmodule 228, non-contact sensor module 242)

Additionally, the data communication module 3710 can compress thegenerator data and/or encrypt the generator data prior to communicatingthe generator data to the modular communication hub 203. The specificmethod of compressing and/or encrypting can be the same as or differentfrom the compressing and/or encrypting which may be performed by thesurgical hub 206 as described in more detail below.

The modular communication hub 203 can receive the generator datacommunicated from the combination generator 3700 (e.g., via the datacommunication module 3710), and the generator data can be subsequentlycommunicated to the cloud-based system 205 (e.g., through the Internet).According to various aspects, the modular communication hub 203 canreceive the generator data through a hub/switch 207/209 of the modularcommunication hub 203 (See FIG. 10), and the generator data can becommunicated to the cloud-based system 205 by a router 211 of themodular communication hub 203 (See FIG. 10). The generator data may becommunicated in real time, near real time, or in batches to thecloud-based system 205 or may be stored at the surgical hub 206 prior tobeing communicated to the cloud-based system 205. The generator data canbe stored, for example, at the storage array 234 or at the memory 249 ofthe computer system 210 of the surgical hub 206.

In various aspects, for instances where the generator data received atthe modular communication hub 203 is not encrypted, prior to thereceived generator data being communicated to the cloud-based system205, the generator data is encrypted to help ensure the confidentialityof the generator data, either while it is being stored at the surgicalhub 206 or while it is being transmitted to the cloud 204 using theInternet or other computer networks. According to various aspects, acomponent of the surgical hub 206 utilizes an encryption algorithm toconvert the generator data from a readable version to an encodedversion, thereby forming the encrypted generator data. The component ofthe surgical hub 206 which utilizes/executes the encryption algorithmcan be, for example, the processor module 232, the processor 244 of thecomputer system 210, and/or combinations thereof. The utilized/executedencryption algorithm can be a symmetric encryption algorithm and/or anasymmetric encryption algorithm.

Using a symmetric encryption algorithm, the surgical hub 206 wouldencrypt the generator data using a shared secret (e.g., private key,passphrase, password). In such an aspect, a recipient of the encryptedgenerator data (e.g., cloud-based system 205) would then decrypt theencrypted generator data using the same shared secret. In such anaspect, the surgical hub 206 and the recipient would need access toand/or knowledge of the same shared secret. In one aspect, a sharedsecret can be generated/chosen by the surgical hub 206 and securelydelivered (e.g., physically) to the recipient before encryptedcommunications to the recipient.

Alternatively, using an asymmetric encryption algorithm, the surgicalhub 206 would encrypt the generator data using a public key associatedwith a recipient (e.g., cloud-based system 205). This public key couldbe received by the surgical hub 206 from a certificate authority thatissues a digital certificate certifying the public key as owned by therecipient. The certificate authority can be any entity trusted by thesurgical hub 206 and the recipient. In such an aspect, the recipient ofthe encrypted generator data would then decrypt the encrypted generatordata using a private key (i.e., known only by the recipient) paired tothe public key used by the surgical hub 206 to encrypt the generatordata. Notably, in such an aspect, the encrypted generator data can onlybe decrypted using the recipient's private key.

According to aspects of the present disclosure, components (e.g.,surgical device/instrument 235, energy device 241, endoscope 239) of thesurgical system 202 are associated with unique identifiers, which can bein the form of serial numbers. As such, according to various aspects ofthe present disclosure, when a component is coupled to a surgical hub206, the component may establish a shared secret with the surgical hub206 using the unique identifier of the coupled component as the sharedsecret. Further, in such an aspect, the component may derive a checksumvalue by applying a checksum function/algorithm to the unique identifierand/or other data being communicated to the surgical hub 206. Here, thechecksum function/algorithm is configured to output a significantlydifferent checksum value if there is a modification to the underlyingdata.

In one aspect, the component may initially encrypt the unique identifierof a coupled component using a public key associated with the surgicalhub (e.g., received by the component from the surgical hub 206upon/after connection) and communicate the encrypted unique identifierto the surgical hub 206. In other aspects, the component may encrypt theunique identifier and the derived checksum value of a coupled componentusing a public key associated with the surgical hub 206 and communicatethe encrypted unique identifier and linked/associated checksum value tothe surgical hub 206.

In yet other aspects, the component may encrypt the unique identifierand a checksum function/algorithm using a public key associated with thesurgical hub 206 and communicate the encrypted unique identifier and thechecksum function/algorithm to the surgical hub 206. In such aspects,the surgical hub 206 would then decrypt the encrypted unique identifieror the encrypted unique identifier and the linked/associated checksumvalue or the encrypted unique identifier and the checksumfunction/algorithm using a private key (i.e., known only by the surgicalhub 206) paired to the public key used by the component to encrypt theunique identifier.

Since the encrypted unique identifier can only be decrypted using thesurgical hub's 206 private key and the private key is only known by thesurgical hub, this is a secure way to communicate a shared secret (e.g.,the unique identifier of the coupled component) to the surgical hub 206.Further, in aspects where a checksum value is linked to/associated withthe unique identifier, the surgical hub 206 may apply the same checksumfunction/algorithm to the decrypted unique identifier to generate avalidating checksum value. If the validating checksum value matches thedecrypted checksum value, the integrity of the decrypted uniqueidentifier is further verified. Further, in such aspects, with a sharedsecret established, the component can encrypt future communications tothe surgical hub 206, and the surgical hub 206 can decrypt the futurecommunications from the component using the shared secret (e.g., theunique identifier of the coupled component). Here, according to variousaspects, a checksum value may be derived for and communicated with eachcommunication between the component and the surgical hub 206 (e.g., thechecksum value based on the communicated data or at least a designatedportion thereof). Here, a checksum function/algorithm (e.g., known bythe surgical hub 206 and/or component or communicated when establishingthe shared secret between the surgical hub 206 and the component asdescribed above) may be used to generate validating checksum values forcomparison with communicated checksum values to further verify theintegrity of communicated data in each communication.

Notably, asymmetric encryption algorithms may be complex and may requiresignificant computational resources to execute each communication. Assuch, establishing the unique identifier of the coupled component as theshared secret is not only quicker (e.g., no need to generate a sharedsecret using a pseudorandom key generator) but also increasescomputational efficiency (e.g., enables the execution of faster, lesscomplex symmetric encryption algorithms) for all subsequentcommunications. In various aspects, this established shared secret maybe utilized by the component and surgical hub 206 until the component isdecoupled from the surgical hub (e.g., surgical procedure ended).

According to other aspects of the present disclosure, components (e.g.,surgical device/instrument 235, energy device 241, endoscope 239) of thesurgical system 202 may comprise sub-components (e.g., handle, shaft,end effector, cartridge) each associated with its own unique identifier.As such, according to various aspects of the present disclosure, when acomponent is coupled to the surgical hub 206, the component mayestablish a shared secret with the surgical hub 206 using a uniquecompilation/string (e.g., ordered or random) of the unique identifiersassociated with the sub-components that combine to form the coupledcomponent. In one aspect, the component may initially encrypt the uniquecompilation/string of the coupled component using a public keyassociated with the surgical hub 206 and communicate the encryptedunique compilation/string to the surgical hub 206. In such an aspect,the surgical hub 206 would then decrypt the encrypted uniquecompilation/string using a private key (i.e., known only by the surgicalhub 206) paired to the public key used by the component to encrypt theunique compilation/string. Since the encrypted unique compilation/stringcan only be decrypted using the surgical hub's 206 private key and theprivate key is only known by the surgical hub 206, this is a secure wayto communicate a shared secret (e.g., the unique compilation/string ofthe coupled component) to the surgical hub 206. Further, in such anaspect, with a shared secret established, the component can encryptfuture communications to the surgical hub 206, and the surgical hub 206can decrypt the future communications from the component using theshared secret (e.g., the unique compilation/string of the coupledcomponent).

Again, asymmetric encryption algorithms may be complex and may requiresignificant computational resources to execute each communication. Assuch, establishing the unique compilation/string of the coupledcomponent (i.e., readily combinable by the component) as the sharedsecret is not only quicker (e.g., no need to generate a shared secretusing a pseudorandom key generator) but also increases computationalefficiency (e.g., enables the execution of faster, less complexsymmetric encryption algorithms) for all subsequent communications. Invarious aspects, this established shared secret may be utilized by thecomponent and surgical hub 206 until the component is decoupled from thesurgical hub 206 (e.g., surgical procedure ended). Furthermore, in suchan aspect, since various sub-components may be reusable (e.g., handle,shaft, end effector) while other sub-components may not be reusable(e.g., end effector, cartridge) each new combination of sub-componentsthat combine to form the coupled component provide a uniquecompilation/string usable as a shared secret for componentcommunications to the surgical hub 206.

According to further aspects of the present disclosure, components(e.g., surgical device/instrument 235, energy device 241, endoscope 239)of the surgical system 202 are associated with unique identifiers. Assuch, according to various aspects of the present disclosure, when acomponent is coupled to the surgical hub 206, the surgical hub 206 mayestablish a shared secret with a recipient (e.g., cloud-based system205) using the unique identifier of the coupled component. In oneaspect, the surgical hub 206 may initially encrypt the unique identifierof a coupled component using a public key associated with the recipientand communicate the encrypted unique identifier to the recipient. Insuch an aspect, the recipient would then decrypt the encrypted uniqueidentifier using a private key (i.e., known only by the recipient)paired to the public key used by the surgical hub 206 to encrypt theunique identifier. Since the encrypted unique identifier can only bedecrypted using the recipient's private key and the private key is onlyknown by the recipient, this is a secure way to communicate a sharedsecret (e.g., the unique identifier of the coupled component) to therecipient (e.g., cloud-based system). Further in such an aspect, with ashared secret established, the surgical hub 206 can encrypt futurecommunications to the recipient (e.g., cloud-based system 205), and therecipient can decrypt the future communications from the surgical hub206 using the shared secret (e.g., the unique identifier of the coupledcomponent).

Notably, asymmetric encryption algorithms may be complex and may requiresignificant computational resources to execute each communication. Assuch, establishing the unique identifier of the coupled component (i.e.,already available to the surgical hub 206) as the shared secret is notonly quicker (e.g., no need to generate a shared secret using apseudorandom key generator) but also increases computational efficiencyby, for example, enabling the execution of faster, less complexsymmetric encryption algorithms for all subsequent communications. Invarious aspects, this established shared secret may be utilized by thesurgical hub 206 until the component is decoupled from the surgical hub(e.g., surgical procedure ended).

According to yet further aspects of the present disclosure, components(e.g., surgical device/instrument 235, energy device 241, endoscope 239)of the surgical system 202 may comprise sub-components (e.g., handle,shaft, end effector, cartridge) each associated with its own uniqueidentifier. As such, according to various aspects of the presentdisclosure, when a component is coupled to the surgical hub 206, thesurgical hub 206 may establish a shared secret with a recipient (e.g.,cloud-based system 205) using a unique compilation/string (e.g., orderedor random) of the unique identifiers associated with the sub-componentsthat combine to form the coupled component.

In one aspect, the surgical hub 206 may initially encrypt the uniquecompilation/string of the coupled component using a public keyassociated with the recipient and communicate the encrypted uniquecompilation/string to the recipient. In such an aspect, the recipientwould then decrypt the encrypted unique compilation/string using aprivate key (i.e., known only by the recipient) paired to the public keyused by the surgical hub 206 to encrypt the unique compilation/string.Since the encrypted unique compilation/string can only be decryptedusing the recipient's private key and the private key is only known bythe recipient, this is a secure way to communicate a shared secret(e.g., the unique compilation/string of the coupled component) to therecipient. With a shared secret established, the surgical hub 206 canencrypt future communications to the recipient (e.g., cloud-based system205), and the recipient can decrypt the future communications from thesurgical hub 206 using the shared secret (e.g., the uniquecompilation/string of the coupled component) Again, asymmetricencryption algorithms may be complex and may require significantcomputational resources to execute each communication. As such,establishing the unique compilation/string of the coupled component(i.e., readily combinable by the surgical hub 206) as the shared secretis not only quicker (e.g., no need to generate a shared secret using apseudorandom key generator) but also increases computational efficiency(e.g., enables the execution of faster, less complex symmetricencryption algorithms) for all subsequent communications.

In various aspects, this established shared secret may be utilized bythe surgical hub 206 until the component is decoupled from the surgicalhub (e.g., surgical procedure ended). Furthermore, in such an aspect,since various sub-components may be reusable (e.g., handle, shaft, endeffector) while other sub-components may not be reusable (e.g., endeffector, cartridge) each new combination of sub-components that combineto form the coupled component provide a unique compilation/string usableas a shared secret for surgical hub 206 communications to the recipient.

In some aspects, an encrypt-then-MAC (EtM) approach may be utilized toproduce the encrypted generator data. An example of this approach isshown in FIG. 25, where the non-encrypted generator data (i.e., theplaintext 3742, e.g., data packet 3722) is first encrypted 3743 (e.g.,via key 3746) to produce a ciphertext 3744 (i.e., the encryptedgenerator data), then a MAC 3745 is produced based on the resultingciphertext 3744, the key 3746, and a MAC algorithm (e.g., a hashfunction 3747). More specifically, the ciphertext 3744 is processedthrough the MAC algorithm using the key 3746. In one aspect similar tosymmetric encryption discussed herein, the key 3746 is a secret keyaccessible/known by the surgical hub 206 and the recipient (e.g.,cloud-based system 205). In such an aspect, the secret key is a sharedsecret associated with/chosen by the surgical hub 206, a shared secretassociated with/chosen by the recipient, or a key selected via apseudorandom key generator. For this approach, as shown generally at3748, the encrypted generator data (i.e., the ciphertext 3744) and theMAC 3745 would be communicated together to the cloud-based system 205.

In other aspects, an encrypt-and-MAC (E&M) approach may be utilized toproduce the encrypted generator data. An example of this approach isshown in FIG. 26, where the MAC 3755 is produced based on thenon-encrypted generator data (i.e., the plaintext 3752, e.g., datapacket 3722), a key 3756, and a MAC algorithm (e.g., a hash function3757). More specifically, the plaintext 3752 is processed through theMAC algorithm using the key 3756. In one aspect similar to symmetricencryption discussed herein, the key 3756 is a secret key accessible/known by the surgical hub 206 and the recipient (e.g., cloud-basedsystem 205). In such an aspect, the secret key is a shared secretassociated with/chosen by the surgical hub 206, a shared secretassociated with/chosen by the recipient, or a key selected via apseudorandom key generator. Further, in such an aspect, thenon-encrypted generator data (i.e., the plaintext 3752, e.g., datapacket 3722) is encrypted 3753 (e.g., via key 3756) to produce aciphertext 3754. For this approach, as shown generally at 3758, the MAC3755 (i.e., produced based on the non-encrypted generator data) and theencrypted generator data (i.e., the ciphertext 3754) would becommunicated together to the cloud-based system 205.

In yet other aspects, a MAC-then-encrypt (MtE) approach may be utilizedto produce the encrypted generator data. An example of this approach isshown in FIG. 27, where the MAC 3765 is produced based on thenon-encrypted generator data (i.e., the plaintext 3762), a key 3766, anda MAC algorithm (e.g., a hash function 3767). More specifically, theplaintext 3762 is processed through the MAC algorithm using the key3766. In one aspect similar to symmetric encryption discussed herein,the key 3766 is a secret key accessible/known by the surgical hub 206and the recipient (e.g., cloud-based system 205). In such an aspect, thesecret key is a shared secret associated with/chosen by the surgical hub206, a shared secret associated with/chosen by the recipient, or a keyselected via a pseudorandom key generator. Next, the non-encryptedgenerator data (i.e., the plaintext 3762) and the MAC 3765 are togetherencrypted 3763 (e.g., via key 3766) to produce a ciphertext 3764 basedon both. For this approach, as shown generally at 3768, the ciphertext3764 (i.e., which includes the encrypted generator data and theencrypted MAC 3765) would be communicated to the cloud-based system 205.

In alternative aspects, the key used to encrypt the non-encryptedgenerator data (e.g., FIG. 25 and FIG. 26) or the non-encryptedgenerator data and the MAC (e.g., FIG. 27) may be different from the key(e.g., keys 3746, 3756, 3766) used to produce the MAC. For example, thekey used to encrypt the non-encrypted generator data (e.g., FIG. 25 andFIG. 26) or the non-encrypted generator data and the MAC (e.g., FIG. 27)may be a different shared secret or a public key associated with therecipient.

In lieu of utilizing the MAC to provide for a subsequent assurance ofdata integrity to the cloud-based system 205, according to otheraspects, the surgical hub 206 can utilize a digital signature to allowthe cloud-based system 205 to subsequently authenticate integrity of thecommunicated generator data. For example, the processor module 232and/or the processor 244 of the computer system 210 can utilize one ormore algorithms to generate a digital signature associated with thegenerator data, and the cloud-based system 205 can utilize an algorithmto determine the authenticity of the received generator data. Thealgorithms utilized by the processor module 232 and/or the processor 244of the computer system 210 can include: (1) a key generation algorithmthat selects a private key uniformly at random from a set of possibleprivate keys, where the key generation algorithm outputs the private keyand a corresponding public key; and (2) a signing algorithm that, giventhe generator data and a private key, produces a digital signatureassociated with the generator data. The cloud-based system 205 canutilize a signature verifying algorithm that, given the receivedgenerator data, public key, and digital signature, can accept thereceived generator data as authentic if the digital signature isdetermined to be authentic or consider the generator data to becompromised or altered if the digital signature is not determined to beauthentic.

According to other aspects of the present disclosure, the surgical hub206 can utilize a commercial authentication program (e.g., Secure HashAlgorithm, SHA-2 comprising SHA-256) to provide for a subsequentassurance of data integrity of the communicated generator data to thecloud-based system 205.

After the generator data has been encrypted (e.g., via EtM, E&M, MtE), acomponent of the surgical hub 206 can communicate the encryptedgenerator data to the cloud-based system 205. The component of thesurgical hub 206 which communicates the encrypted generator data to thecloud-based system 205 can be, for example, the processor module 232, ahub/switch 207/209 of the modular communication hub 203, the router 211of the modular communication hub 203, the communication module 247 ofthe computer system 210, etc.

According to various aspects, the communication of the encryptedgenerator data through the Internet can follow an IP which: (1) definesdatagrams that encapsulate the encrypted generator data to be deliveredand/or (2) defines addressing methods that are used to label thedatagram with source and destination information. A high-levelrepresentation of an example datagram 3770 is shown in FIG. 28, wherethe datagram 3770 includes a header 3772 and a payload 3774, and inother aspects also may include a trailer (not shown). A more detailedrepresentation of an example datagram 3780 is shown in FIG. 29, wherethe header 3782 can include fields for information such as, for example,the IP address of the source 3786 which is sending the datagram (e.g.,the router 211 of the modular communication hub 203), the IP address ofthe destination 3788 which is to receive the datagram (e.g., the cloud204 and/or the remote server 213 associated with the cloud-based system205), a type of service designation (not shown), a header length 3790, apayload length 3792, and a checksum value 3794. In such an aspect, thesurgical hub 206 may further apply a checksum function/algorithm to thenon-encrypted generator data (i.e., the plaintext 3742, e.g., datapacket 3722) or at least a portion of the non-encrypted generator data(e.g., combination generator ID 3726) to derive the checksum value 3794.Here, the checksum function/algorithm is configured to output asignificantly different checksum value if there is any modification(e.g., even a slight change) to the underlying data (e.g., generatordata). After decryption of the encrypted generator data by its recipient(e.g., cloud-based system 205), the recipient may apply the samechecksum function/algorithm to the decrypted generator data to generatea validating checksum value. If the validating checksum value matchesthe checksum value 3794 (i.e., stored in the header 3782 of the receiveddatagram 3780), the integrity of the received generator data is furtherverified. The payload 3784 may include the encrypted generator data 3796and can also include padding 3798 if the encrypted generator data 3796is less than a specified payload length. Notably, the communicatedencrypted generator data 3796 may comprise a MAC as discussed in FIGS.25, 26, and 27 above (e.g., references 3748, 3758, and 3768,respectively). In some aspects, the header 3782 can further include aspecific path the datagram is to follow when the datagram iscommunicated from the surgical hub 206 to the cloud-based system 205(e.g., from IP address of the source, to IP address of at least oneintermediate network component (e.g., specified routers, specifiedservers), to IP address of the destination).

According to various aspects, prior to the generator data beingencrypted, the generator data can be time-stamped (if not alreadytime-stamped by the combination generator 3700) and/or the generatordata can be compressed (if not already compressed by the combinationgenerator 3700). Time-stamping allows for the cloud-based system 205 tocorrelate the generator data with other data (e.g., stripped patientdata) which may be communicated to the cloud-based system 205. Thecompression allows for a smaller representation of the generator data tobe subsequently encrypted and communicated to the cloud-based system205. For the compression, a component of the surgical hub 206 canutilize a compression algorithm to convert a representation of thegenerator data to a smaller representation of the generator data,thereby allowing for a more efficient and economical encryption of thegenerator data (e.g., less data to encrypt utilizes less processingresources) and a more efficient and economical communication of theencrypted generator data (e.g., smaller representations of the generatordata within the payload of the datagrams (e.g., FIGS. 28 and 29) allowfor more generator data to be included in a given datagram, for moregenerator data to be communicated within a given time period, and/or forgenerator data to be communicated with fewer communication resources).The component of the surgical hub 206 which utilizes/executes thecompression algorithm can be, for example, the processor module 232, theprocessor 244 of the computer system, and/or combinations thereof. Theutilized/executed compression algorithm can be a lossless compressionalgorithm or a lossy compression algorithm.

Once the generator data and the MAC for a given datagram has beenreceived at the cloud-based system 205 (e.g., FIG. 25, reference 3748;FIG. 26, reference 3758; and FIG. 27, reference 3768), the cloud-basedsystem 205 can decrypt the encrypted generator data from the payload ofthe communicated datagram to realize the communicated generator data.

In one aspect, referring back to FIG. 25, the recipient (e.g.,cloud-based system 205) may, similar to the surgical hub 206, processthe ciphertext 3744 through the same MAC algorithm using the sameknown/accessible secret key to produce an authenticating MAC. If thereceived MAC 3745 matches this authenticating MAC, the recipient (e.g.,cloud-based system 205) may safely assume that the ciphertext 3744 hasnot been altered and is from the surgical hub 206. The recipient (e.g.,cloud-based system 205) may then decrypt the ciphertext 3744 (e.g., viakey 3746) to realize the plaintext 3742 (e.g., data packet comprisinggenerator data).

In another aspect, referring back to FIG. 26, the recipient (e.g.,cloud-based system 205) may decrypt the ciphertext 3754 (e.g., via key3756) to realize the plaintext 3752 (e.g., data packet comprisinggenerator data). Next, similar to the surgical hub 206, the recipient(e.g., cloud-based system 205) may process the plaintext 3752 throughthe same MAC algorithm using the same known/accessible secret key toproduce an authenticating MAC. If the received MAC 3755 matches thisauthenticating MAC, the recipient (e.g., cloud-based system 205) maysafely assume that the plaintext 3752 has not been altered and is fromthe surgical hub 206.

In yet another aspect, referring back to FIG. 27, the recipient (e.g.,cloud-based system 205) may decrypt the ciphertext 3764 (e.g., via key3766) to realize the plaintext 3762 (e.g., data packet comprisinggenerator data) and the MAC 3765. Next, similar to the surgical hub 206,the recipient (e.g., cloud-based system 205) may process the plaintext3762 through the same MAC algorithm using the same known/accessiblesecret key to produce an authenticating MAC. If the received MAC 3765matches this authenticating MAC, the recipient (e.g., cloud-based system205) may safely assume that the plaintext 3762 has not been altered andis from the surgical hub 206.

In alternative aspects, the key used to encrypt the non-encryptedgenerator data (e.g., FIG. 25 and FIG. 26) or the non-encryptedgenerator data and the MAC (e.g., FIG. 27) may be different from the key(e.g., keys 3746, 3756, 3766) used to produce the MAC. For example, thekey used to encrypt the non-encrypted generator data (e.g., FIG. 25 andFIG. 26) or the non-encrypted generator data and the MAC (e.g., FIG. 27)may be a different shared secret or a public key associated with therecipient. In such aspects, referring to FIG. 25, the recipient (e.g.,cloud-based system 205) may, after verifying the authenticating MAC viakey 3746 (described above), then decrypt the ciphertext 3744 (e.g., viathe different shared secret or private key associated with therecipient) to realize the plaintext 3742 (e.g., data packet comprisinggenerator data). In such aspects, referring to FIG. 26, the recipientmay decrypt the ciphertext 3754 (e.g., via the different shared secretor private key associated with the recipient) to realize the plaintext3752 (e.g., data packet comprising generator data), then verify theauthenticating MAC via key 3756 (described above). In such aspects,referring to FIG. 27, the recipient may decrypt the ciphertext 3764(e.g., via the different shared secret or private key associated withthe recipient) to realize the plaintext 3762 (e.g., data packetcomprising generator data) and the MAC 3765, then verify theauthenticating MAC via key 3766 (described above).

In sum, referring to FIGS. 25-27, if an authenticating MAC, asdetermined/calculated by the cloud-based system 205, is the same as theMAC which was received with the datagram, the cloud-based system 205 canhave confidence that the received generator data is authentic (i.e., itis the same as the generator data which was communicated by the surgicalhub 206) and that the data integrity of the communicated generator datahas not been compromised or altered. As described above, the recipientmay further apply the plaintext 3742, 3752, 3762, or at least a portionthereof to the same checksum function/algorithm (i.e., used by thesurgical hub 206) to generate a validating checksum value to furtherverify the integrity of the generator data based on the checksum valuestored in the header of the communicated datagram.

Additionally, based on the decrypted datagram, the IP address of thesource (e.g., FIG. 29, reference 3786) which originally communicated thedatagram to the cloud-based system 205 can be determined from the headerof the communicated datagram. If the determined source is a recognizedsource, the cloud-based system 205 can have confidence that thegenerator data originated from a trusted source, thereby providingsource authentication and even more assurance of the data integrity ofthe generator data. Furthermore, since each router the datagram passedthrough in route to the cloud-based system 205 includes its IP addresswith its forwarded communication, the cloud-based system 205 is able totrace back the path followed by the datagram and identify each routerwhich handled the datagram. The ability to identify the respectiverouters can be helpful in instances where the content of the datagramreceived at the cloud-based system 205 is not the same as the content ofthe datagram as originally communicated by the surgical hub 206. Foraspects where the communication path was pre-specified and included inthe header of the communicated datagram, the ability to identify therespective routers can allow for path validation and provide additionalconfidence of the authenticity of the received generator data.

Furthermore, according to various aspects, after authenticating thereceived generator data, the cloud-based system 205 can communicate amessage (e.g., a handshake or similar message) to the surgical hub 206via the Internet or another communication network,confirming/guaranteeing that the datagram communicated from the surgicalhub 206 was received intact by the cloud-based system 205, therebyeffectively closing the loop for that particular datagram.

Aspects of the above-described communication method, and/or variationsthereof, can also be employed to communicate data other than generatordata to the cloud-based system 205 and/or to communicate generator dataand/or other data from the surgical hub 206 to systems and/or devicesother than the cloud-based system 205. For example, according to variousaspects, the generator data and/or other data can be communicated fromthe surgical hub 206 to a hand-held surgical device/instrument (e.g.,wireless device/instrument 235), to a robotic interface of a surgicaldevice/instrument (e.g., robot hub 222) and/or to other servers,including servers (e.g., similar to server 213) associated with othercloud-based systems (e.g., similar to cloud-based system 205) inaccordance with the above-described communication method. For example,in certain instances, an EEPROM chip of a given surgical instrument caninitially be provided with merely an electronic chip device ID. Uponconnection of the given surgical instrument to the combination generator3700, data can be downloaded from the cloud-based system 205 to thesurgical hub 206 and subsequently to the EEPROM of the surgicalinstrument in accordance with the above-described communication method.

In addition to communicating generator data to the cloud-based system205, the surgical hub 206 can also utilize the above-described method ofcommunication, and/or variations thereof, to communicate data other thangenerator data to the cloud-based system 205. For example, the surgicalhub 206 can also communicate other information associated with thesurgical procedure to the cloud-based system 205. Such other informationcan include, for example, the type of surgical procedure beingperformed, the name of the facility where the surgical procedure isbeing performed, the location of the facility where the surgicalprocedure is being performed, an identification of the operating roomwithin the facility where the surgical procedure is being performed, thename of the surgeon performing the surgical procedure, the age of thepatient, and data associated with the condition of the patient (e.g.,blood pressure, heart rate, current medications). According to variousaspects, such other information may be stripped of all information whichcould identify the specific surgery, the patient, or the surgeon, sothat the information is essentially anonymized for further processingand analysis by the cloud-based system 205. In other words, the strippeddata is not correlated to a specific surgery, patient, or surgeon. Thestripped information can be communicated to the cloud-based system 205either together with or distinct from the communicated generator data.

For instances where the stripped/other data is to be communicated apartfrom the generator data, the stripped/other data can be time-stamped,compressed, and/or encrypted in a manner identical to or different fromthat described above regarding the generator data, and the surgical hub206 may be programmed/configured to generate a datagram which includesthe encrypted stripped/other information in lieu of the encryptedgenerator data. The datagram can then be communicated from the surgicalhub 206 through the Internet to the cloud-based system 205 following anIP which: (1) defines datagrams that encapsulate the encryptedstripped/other data to be delivered, and (2) defines addressing methodsthat are used to label the datagram with source and destinationinformation.

For instances where the stripped/other information is to be communicatedwith the generator data, the stripped/other data can be time-stamped,compressed, and/or encrypted in a manner identical to or different fromthat described above regarding the generator data, and the surgical hub206 may be programmed/configured to generate a datagram which includesboth the encrypted generator data and the encrypted stripped/otherinformation. An example of such a datagram in shown in FIG. 30, wherethe payload 3804 of the datagram 3800 is divided into two or moredistinct payload data portions (e.g., one for the encrypted generatordata 3834, one for the encrypted stripped/other information 3836), witheach portion having an identifying bit (e.g., generator data (GD) 3806,other data (OD) 3812), the associated encrypted data 3808, 3814, and theassociated padding 3810, 3816, if needed, respectively. Further, asshown in FIG. 30, the header 3802 may be the same as (e.g., IP addresssource 3818, IP address destination 3820, header length 3822) ordifferent from the header 3782 described with reference to the datagram3780 shown in FIG. 29. For example, the header 3802 may be different inthat the header 3802 further includes a field designating the number ofpayload data portions 3824 (e.g., 2) included in the payload 3804 of thedatagram 3800. The header 3802 can also be different in that it caninclude fields designating the payload length 3826, 3830 and thechecksum value 3828, 2832 for each payload data portion 3834, 3836,respectively. Although only two payload data portions are shown in FIG.30, it will be appreciated that the payload 3804 of the datagram 3800may include any quantity/number of payload data portions (e.g., 1, 2, 3,4, 5), where each payload data portion includes data associated with adifferent aspect of the surgical procedure. The datagram 3800 can thenbe communicated from the surgical hub 206 through the Internet to thecloud-based system 205 following an IP which: (1) defines datagrams thatencapsulate the encrypted generator data and the encryptedstripped/other data to be delivered, and (2) defines addressing methodsthat are used to label the datagram with source and destinationinformation.

As set forth above, it is an unfortunate reality that the outcomes ofall surgical procedures are not always optimal and/or successful. Forinstances where a failure event is detected and/or identified, avariation of the above-described communication methods can be utilizedto isolate surgical data which is associated with the failure event(e.g., failure event surgical data) from surgical data which is notassociated with the failure event (e.g., non-failure event surgicaldata) and communicate the surgical data which is associated with thefailure event (e.g., failure event data) from the surgical hub 206 tothe cloud-based system 205 on a prioritized basis for analysis.According to one aspect of the present disclosure, failure eventsurgical data is communicated from the surgical hub 206 to thecloud-based system 205 on a prioritized basis relative to non-failureevent surgical data.

FIG. 31 illustrates various aspects of a system-implemented method ofidentifying surgical data associated with a failure event (e.g., failureevent surgical data) and communicating the identified surgical data to acloud-based system 205 on a prioritized basis. The method comprises (1)receiving 3838 surgical data at a surgical hub 206, wherein the surgicaldata is associated with a surgical procedure; (2) time-stamping 3840 thesurgical data; (3) identifying 3842 a failure event associated with thesurgical procedure; (4) determining 3844 which of the surgical data isassociated with the failure event (e.g., failure event surgical data);(5) separating 3846 the surgical data associated with the failure eventfrom all other surgical data (e.g., non-failure event surgical data)received at the surgical hub 206; (6) chronologizing 3848 the surgicaldata associated with the failure event; (7) encrypting 3850 the surgicaldata associated with the failure event; and (8) communicating 3852 theencrypted surgical data to a cloud-based system 205 on a prioritizedbasis.

More specifically, various surgical data can be captured during asurgical procedure and the captured surgical data, as well as othersurgical data associated with the surgical procedure, can becommunicated to the surgical hub 206. The surgical data can include, forexample, data associated with a surgical device/instrument (e.g., FIG.9, surgical device/instrument 235) utilized during the surgery, dataassociated with the patient, data associated with the facility where thesurgical procedure was performed, and data associated with the surgeon.Either prior to or subsequent to the surgical data being communicated toand received by the surgical hub 206, the surgical data can betime-stamped and/or stripped of all information which could identify thespecific surgery, the patient, or the surgeon, so that the informationis essentially anonymized for further processing and analysis by thecloud-based system 205.

Once a failure event has been detected and/or identified (e.g., whichcan be either during or after the surgical procedure), the surgical hub206 can determine which of the surgical data is associated with thefailure event (e.g., failure event surgical data) and which of thesurgical data is not associated with the surgical event (e.g.,non-failure event surgical data). According to one aspect of the presentdisclosure, a failure event can include, for example, a detection of oneor more misfired staples during a stapling portion of a surgicalprocedure. For example, in one aspect, referring to FIG. 9, an endoscope239 may take snapshots while a surgical device/instrument 235 comprisingan end effector including a staple cartridge performs a stapling portionof a surgical procedure. In such an aspect, an imaging module 238 maycompare the snapshots to stored images and/or images downloaded from thecloud-based system 205 that convey correctly fired staples to detect amisfired staple and/or evidence of a misfired staple (e.g., a leak). Inanother aspect, the imaging module 238 may analyze the snapshotsthemselves to detect a misfired staple and/or evidence of a misfiredstaple. In one alternative aspect, the surgical hub 206 may communicatethe snapshots to the cloud-based system 205, and a component of thecloud-based system 205 may perform the various imaging module functionsdescribed above to detect a misfired staple and/or evidence of amisfired staple and to report the detection to the surgical hub 206.According to another aspect of the present disclosure, a failure eventcan include a detection of a tissue temperature which is below theexpected temperature during a tissue-sealing portion of a surgicalprocedure and/or a visual indication of excessive bleeding or oozingfollowing a surgical procedure (e.g., FIG. 9, via endoscope 239). Forexample, in one aspect, referring to FIG. 9, the surgicaldevice/instrument 235 may comprise an end effector, including atemperature sensor and the surgical hub 206, and/or the cloud-basedsystem may compare at least one temperature detected by the temperaturesensor (e.g., during a tissue-sealing portion of a surgical procedure)to a stored temperature and/or a range of temperatures expected and/orassociated with that surgical procedure to detect an inadequate/lowsealing temperature. In another aspect, an endoscope 239 may takesnapshots during a surgical procedure. In such an aspect, an imagingmodule 238 may compare the snapshots to stored images and/or imagesdownloaded from the cloud-based system 205 that convey tissue correctlysealed at expected temperatures to detect evidence of animproper/insufficient sealing temperature (e.g., charring,oozing/bleeding). Further, in such an aspect, the imaging module 238 mayanalyze the snapshots themselves to detect evidence of animproper/insufficient sealing temperature (e.g., charring,oozing/bleeding). In one alternative aspect, the surgical hub 206 maycommunicate the snapshots to the cloud-based system 205, and a componentof the cloud-based system 205 may perform the various imaging modulefunctions described above to detect evidence of an improper/insufficientsealing temperature and to report the detection to the surgical hub 206.According to the various aspects described above, in response to thedetected and/or identified failure event, the surgical hub 206 maydownload a program from the cloud-based system 205 for execution by thesurgical device/instrument 235 that corrects the detected issue (i.e.,program that alters surgical device/instrument parameters to preventmisfired staples, program that alters surgical device/instrumentparameters to ensure correct sealing temperature).

In some aspects, a failure event is deemed to cover a certain timeperiod, and all surgical data associated with that certain time periodcan be deemed to be associated with the failure event.

After the surgical data associated with the failure event has beenidentified, the identified surgical data (e.g., failure event surgicaldata) can be separated or isolated from all of the other surgical dataassociated with the surgical procedure (e.g., non-failure event surgicaldata). The separation can be realized, for example, by tagging orflagging the identified surgical data, by storing the identifiedsurgical data apart from all of the other surgical data associated withthe surgical procedure, or by storing only the other surgical data whilecontinuing to process the identified surgical data for subsequentprioritized communication to the cloud-based system 205. According tovarious aspects, the tagging or flagging of the identified surgical datacan occur during the communication process when the datagram isgenerated as described in more detail below.

The time-stamping of all of the surgical data (e.g., either before orafter the surgical data is received at the surgical hub) can be utilizedby a component of the surgical hub 206 to chronologize the identifiedsurgical data associated with the failure event. The component of thesurgical hub 206 which utilizes the time-stamping to chronologize theidentified surgical data can be, for example, the processor module 232,the processor 244 of the computer system 210, and/or combinationsthereof. By chronologizing the identified surgical data, the cloud-basedsystem 205 and/or other interested parties can subsequently betterunderstand the conditions which were present leading up to theoccurrence of the failure event and possibly pinpoint the exact cause ofthe failure event, thereby providing the knowledge to potentiallymitigate a similar failure event from occurring during a similarsurgical procedure performed at a future date.

Once the identified surgical data has been chronologized, thechronologized surgical data may be encrypted in a manner similar to thatdescribed above with respect to the encryption of the generator data.Thus, the identified surgical data can be encrypted to help ensure theconfidentiality of the identified surgical data, either while it isbeing stored at the surgical hub 206 or while it is being transmitted tothe cloud-based system 205 using the Internet or other computernetworks. According to various aspects, a component of the surgical hub206 utilizes an encryption algorithm to convert the identified surgicaldata from a readable version to an encoded version, thereby forming theencrypted surgical data associated with the failure event (e.g., FIGS.25-27). The component of the surgical hub which utilizes the encryptionalgorithm can be, for example, the processor module 232, the processor244 of the computer system 210, and/or combinations thereof. Theutilized encryption algorithm can be a symmetric encryption algorithm oran asymmetric encryption algorithm.

After the identified surgical data has been encrypted, a component ofthe surgical hub can communicate the encrypted surgical data associatedwith the failure event (e.g., encrypted failure event surgical data) tothe cloud-based system 205. The component of the surgical hub whichcommunicates the encrypted surgical data to the cloud-based system 205can be, for example, the processor module 232, a hub/switch 207/209 ofthe modular communication hub 203, the router 211 of the modularcommunication hub 203, or the communication module 247 of the computersystem 210. According to various aspects, the communication of theencrypted surgical data (e.g., encrypted failure event surgical data)through the Internet can follow an IP which: (1) defines datagrams thatencapsulate the encrypted surgical data to be delivered, and (2) definesaddressing methods that are used to label the datagram with source anddestination information. The datagram can be similar to the datagramshown in FIG. 29 or the datagram shown in FIG. 30, but can be differentin that either the header or the payload of the datagram can include afield which includes a flag or a tag which identifies the encryptedsurgical data (e.g., encrypted failure event surgical data) as beingprioritized relative to other non-prioritized surgical data (e.g.,encrypted non-failure event surgical data). An example of such adatagram is shown in FIG. 32, where the payload 3864 of the datagram3860 includes a field which indicates (e.g., a prioritized designation3834) that the payload 3864 includes prioritized surgical data (e.g.,combination generator data 3868). According to various aspects, thepayload 3864 of the datagram 3860 can also includenon-flagged/non-tagged/non-prioritized surgical data 3836 (e.g., othersurgical data 3874) as shown in FIG. 32.

According to various aspects, prior to the identified surgical data(e.g., failure event surgical data) being encrypted, the identifiedsurgical data can be compressed (if not already compressed by thesource(s) of the relevant surgical data). The compression allows for asmaller representation of the surgical data associated with the failureevent to be subsequently encrypted and communicated to the cloud-basedsystem 205. For the compression, a component of the surgical hub 206 canutilize a compression algorithm to convert a representation of theidentified surgical data to a smaller representation of the identifiedsurgical data, thereby allowing for a more efficient and economicalencryption of the identified surgical data (less data to encryptutilizes less processing resources) and a more efficient and economicalcommunication of the encrypted surgical data (smaller representations ofthe surgical data within the payload of the datagrams allow for moreidentified surgical data to be included in a given datagram, for moreidentified surgical data to be communicated within a given time period,and/or for identified surgical data to be communicated with fewercommunication resources). The component of the surgical hub 206 whichutilizes the compression algorithm can be, for example, the processormodule 232, the processor 244 of the computer system 210, and/orcombinations thereof. The utilized compression algorithm can be alossless compression algorithm or a lossy compression algorithm.

In instances where other non-prioritized surgical data (e.g.,non-failure event surgical data) is to be communicated with prioritizedsurgical data (e.g., failure event surgical data), the othernon-prioritized surgical data can be time-stamped, compressed, and/orencrypted in a manner identical to or different from that describedabove regarding the surgical data identified as associated with afailure event (e.g., failure event surgical data), and the surgical hub206 may be programmed/configured to generate a datagram which includesboth the encrypted prioritized surgical data (e.g., encrypted failureevent surgical data) and the encrypted other non-prioritized surgicaldata (e.g., encrypted non-failure event surgical data). For example, inlight of FIG. 32, the payload 3864 of the datagram 3860 may be dividedinto two or more distinct payload data portions (e.g., one for theprioritized surgical data 3834, one for the non-prioritized surgicaldata 3836), with each portion having an identifying bit (e.g., generatordata (GD) 3866, other data (OD) 3872), the associated encrypted data(e.g., encrypted prioritized surgical data 3868, encryptednon-prioritized surgical data 3874), and the associated padding 3870,3876, if needed, respectively. Further, similar to FIG. 30, the header3862 may be the same as (e.g., IP address source 3878, IP addressdestination 3880, header length 3882) or different from the header 3782described with reference to the datagram 3780 shown in FIG. 29. Forexample, the header 3862 may be different in that the header 3862further includes a field designating the number of payload data portions3884 (e.g., 2) included in the payload 3864 of the datagram 3860. Theheader 3862 can also be different in that it can include fieldsdesignating the payload length 3886, 3890 and the checksum value 3888,2892 for each payload data portion 3834, 3836, respectively. Althoughonly two payload data portions are shown in FIG. 32, it will beappreciated that the payload 3864 of the datagram 3860 may include anyquantity/number of payload data portions (e.g., 1, 2, 3, 4, 5), whereeach payload data portion includes data associated with a differentaspect of the surgical procedure. The datagram 3860 can then becommunicated from the surgical hub 206 through the Internet to thecloud-based system 205 following an IP which: (1) defines datagrams thatencapsulate the encrypted generator data and the encryptedstripped/other data to be delivered, and (2) defines addressing methodsthat are used to label the datagram with source and destinationinformation.

In some aspects, once a failure event associated with a surgicalprocedure has been identified, the surgical hub 206 and/or thecloud-based system 205 can subsequently flag or tag a surgicaldevice/instrument 235 which was utilized during the surgical procedurefor inoperability and/or removal. For example, in one aspect,information (e.g., serial number, ID) associated with the surgicaldevice/instrument 235 and stored at the surgical hub 206 and/or thecloud-based system 205 can be utilized to effectively block the surgicaldevice/instrument 235 from being used again (e.g., blacklisted). Inanother aspect, information (e.g., serial number, ID) associated withthe surgical device/instrument can initiate the printing of a shippingslip and shipping instructions for returning the surgicaldevice/instrument 235 back to a manufacturer or other designated partyso that a thorough analysis/inspection of the surgical device/instrument235 can be performed (e.g., to determine the cause of the failure).According to various aspects described herein, once the cause of afailure is determined (e.g., via the surgical hub 206 and/or thecloud-based system 205), the surgical hub 206 may download a programfrom the cloud-based system 205 for execution by the surgicaldevice/instrument 235 that corrects the determined cause of the failure(i.e., program that alters surgical device/instrument parameters toprevent the failure from occurring again).

According to some aspects, the surgical hub 206 and/or the cloud-basedsystem 205 can also provide/display a reminder (e.g., via hub display215 and/or surgical device/instrument display 237) to administrators,staff, and/or other personnel to physically remove the surgicaldevice/instrument 235 from the operating room (e.g., if detected asstill present in the operating room) and/or to send the surgicaldevice/instrument 235 to the manufacturer or the other designated party.In one aspect, the reminder may be set up to be provided/displayedperiodically until an administrator can remove the flag or tag of thesurgical device/instrument 235 from the surgical hub 206 and/or thecloud-based system 205. According to various aspects, an administratormay remove the flag or tag once the administrator can confirm (e.g.,system tracking of the surgical device/instrument 235 via its serialnumber/ID) that the surgical device/instrument 235 has been received bythe manufacturer or the other designated party. By using theabove-described method to flag and/or track surgical data associatedwith a failure event, a closed loop control of the surgical dataassociated with the failure event and/or with a surgicaldevice/instrument 235 can be realized. Additionally, in view of theabove, it will be appreciated that the surgical hub 206 can be utilizedto effectively manage the utilization (or non-utilization) of surgicaldevices/instruments 235 which have or potentially could be utilizedduring a surgical procedure.

In various aspects of the present disclosure, the surgical hub 206and/or cloud-based system 205 may want to control which components(e.g., surgical device/instrument 235, energy device 241) are beingutilized in its interactive surgical system 100/200 to perform surgicalprocedures (e.g., to minimize future failure events, to avoid the use ofunauthorized or knock-off components).

As such, in various aspects of the present disclosure, since aninteractive surgical system 100 may comprise a plurality of surgicalhubs 106, a cloud-based system 105 and/or each surgical hub 106 of theinteractive surgical system 100 may want to track component-surgical hubcombinations utilized over time. In one aspect, upon/after a component(See FIG. 9, e.g., surgical device/instrument 235, energy device 241) isconnected to/used with a particular surgical hub 106 (e.g., surgicaldevice/instrument 235 wired/wirelessly connected to the particularsurgical hub 106, energy device 241 connected to the particular surgicalhub 106 via generator module 240), the particular surgical hub 106 maycommunicate a record/block of that connection/use (e.g., linkingrespective unique identifiers of the connected devices) to thecloud-based system 105 and/or to the other surgical hubs 106 in theinteractive surgical system 100. For example, upon/after theconnection/use of an energy device 241, a particular surgical hub 106may communicate a record/block (e.g., linking a unique identifier of theenergy device 241 to a unique identifier of a generator module 240 to aunique identifier of the particular surgical hub 106) to the cloud-basedsystem 105 and/or other surgical hubs 106 in the interactive surgicalsystem 100. In such an aspect, if this is the first time the component(e.g., energy device) is connected to/used with a surgical hub 106 inthe interactive surgical system 100, the cloud-based system 105 and/oreach surgical hub 106 of the interactive surgical system 100 may storethe record/block as a genesis record/block. In such an aspect, thegenesis record/block stored at the cloud-based system 105 and/or eachsurgical hub 106 may comprise a time stamp. However, in such an aspect,if this is not the first time the component (e.g., energy device 241)has been connected to/used with a surgical hub 106 in the interactivesurgical system 100, the cloud-based system 105 and/or each surgical hub106 of the interactive surgical system may store the record/block as anew record/block in a chain of record/blocks associated with thecomponent. In such an aspect, the new record/block may comprise acryptographic hash of the most recently communicated record/block storedat the cloud-based system 105 and/or each surgical hub 106, thecommunicated linkage data, and a time stamp. In such an aspect, eachcryptographic hash links each new record/block (e.g., each use of thecomponent) to its prior record/block to form a chain confirming theintegrity of each prior record/block(s) back to an original genesisrecord/block (e.g., first use of the component). According to such anaspect, this blockchain of records/blocks may be developed at thecloud-based system 105 and/or each surgical hub 106 of the interactivesurgical system 100 to permanently and verifiably tie usage of aparticular component to one or more than one surgical hub 106 in theinteractive surgical system 100 over time. Here, according to anotheraspect, this approach may be similarly applied to sub-components (e.g.,handle, shaft, end effector, cartridge) of a component when/after thecomponent is connected to/used with a particular surgical hub 106 of aninteractive surgical system 100.

According to various aspects of the present disclosure, the cloud-basedsystem 105 and/or each surgical hub 106 may utilize such records/blocksto trace usage of a particular component and/or a sub-component back toits initial usage in the interactive surgical system 100. For example,if a particular component (e.g., surgical device/instrument 235) isflagged/tagged as related to a failure event, the cloud-based system 105and/or a surgical hub 106 may analyze such records/blocks to determinewhether past usage of that component and/or a sub-component of thatcomponent contributed to or caused the failure event (e.g., overused).In one example, the cloud-based system 105 may determine that asub-component (e.g., end effector) of that component may actually becontributing/causing the failure event and then tag/flag that componentfor inoperability and/or removal based on the determination.

According to another aspect, the cloud-based system 205 and/or surgicalhub 206 may control which components (e.g., surgical device/instrument235, energy device 241) are being utilized in an interactive surgicalsystem 200 to perform surgical procedures by authenticating thecomponent and/or its supplier/manufacturer. In one aspect, thesupplier/manufacturer of a component may associate a serial number and asource ID with the component. In such an aspect, thesupplier/manufacturer may create/generate a private key for the serialnumber, encrypt the serial number with the private key, and store theencrypted serial number and the source ID on an electronic chip (e.g.,memory) in the component prior to shipment to a surgical site. Here,upon/after connection of the component to a surgical hub 206, thesurgical hub 206 may read the encrypted serial number and the source IDfrom the electronic chip. In response, the surgical hub 206 may send amessage (i.e., comprising the encrypted serial number) to a server ofthe supplier/manufacturer associated with the source ID (e.g., directlyor via the cloud-based system 205). In such an aspect, the surgical hub206 may encrypt the message using a public key associated with thatsupplier/manufacturer. In response, the surgical hub 206 may receive amessage (i.e., comprising the private key the supplier/manufacturergenerated for/associated with that encrypted serial number) from thesupplier/manufacturer server (e.g., directly or via the cloud-basedsystem 205). In such an aspect, the supplier/manufacturer server mayencrypt the message using a public key associated with the surgical hub206. Further, in such an aspect, the surgical hub 206 may then decryptthe message (e.g., using a private key paired to the public key used toencrypt the message) to reveal the private key associated with theencrypted serial number. The surgical hub 206 may then decrypt theencrypted serial number, using that private key, to reveal the serialnumber. Further, in such an aspect, the surgical hub 206 may thencompare the decrypted serial number to a comprehensive list ofauthorized serial numbers (e.g., stored at the surgical hub 206 and/orthe cloud-based system and/or downloaded from the cloud-based system,e.g., received separately from the supplier/manufacturer) and permit useof the connected component if the decrypted serial number matches anauthorized serial number. Initially, such a process permits the surgicalhub 206 to authenticate the supplier/manufacturer. In particular, thesurgical hub 206 encrypted the message comprising the encrypted serialnumber using a public key associated with the supplier/manufacturer. Assuch, receiving a response message (i.e., comprising the private key)authenticates the supplier/manufacturer to the surgical hub 206 (i.e.,otherwise the supplier/manufacturer would not have access to the privatekey paired to the public key used by the surgical hub 206 to encrypt themessage, and the supplier/manufacturer would not have been able toassociate the encrypted serial number received in the message to itsalready generated private key). Furthermore, such a process permits thesurgical hub 206 to authenticate the connected component/device itself.In particular, the supplier/manufacturer (e.g., just authenticated)encrypted the serial number of the component using the delivered privatekey. Upon secure receipt of the private key, the surgical hub 206 isable to decrypt the encrypted serial number (i.e., read from theconnected component), which authenticates the component and/or itsassociation with the supplier/manufacturer (i.e., only that private keyas received from that supplier/manufacturer would decrypt the encryptedserial number). Nonetheless, the surgical hub 206 further verifies thecomponent as authentic (e.g., compares the decrypted serial number to acomprehensive list of authorized serial numbers received separately fromthe supplier/manufacturer). Notably, such aspects as described above canalternatively be performed by the cloud-based system 205 and/or acombination of the cloud-based system 205 and the surgical hub 206 tocontrol which components (e.g., surgical device/instrument 235, energydevice 241) are being utilized in an interactive surgical system 200(e.g., to perform surgical procedures) by authenticating the componentand/or its supplier/manufacturer. In one aspect, such describedapproaches may prevent the use of knock-off component(s) within theinteractive surgical system 200 and ensure the safety and well-being ofsurgical patients.

According to another aspect, the electronic chip of a component (e.g.,surgical device/instrument 235, energy device 241) may store (e.g., inmemory) data associated with usage of that component (i.e., usage data,e.g., number of uses with a limited use device, number of usesremaining, firing algorithms executed, designation as a single-usecomponent). In such an aspect, the surgical hub 206 and/or thecloud-based system 205, upon/after connection of the component to theinteractive surgical system, may read such usage data from the memory ofa component and write back at least a portion of that usage data forstorage (e.g., in memory 249) at the surgical hub 206 and/or for storageat the cloud-based system 205 (e.g., individually and/or under ablockchain approach discussed herein). According to such an aspect, thesurgical hub 206 and/or the cloud-based system 205, upon/after asubsequent connection of that component to the interactive surgicalsystem, may again read such usage data and compare that usage topreviously stored usage data. Here, if a discrepancy exists or if apredetermined/authorized usage has been met, the surgical hub 206 and/orthe cloud-based system 205 may prevent use of that component (e.g.,blacklisted, rendered inoperable, flagged for removal) on theinteractive surgical system 200. In various aspects, such an approachprevents bypass of the encryption chip systems. If the component'selectronic chip/memory has been tampered with (e.g., memory reset,number of uses altered, firing algorithms altered, single-use devicedesignated as a multi-use device), a discrepancy will exist, and thecomponent's use will be controlled/prevented.

Additional details are disclosed in U.S. Patent Application PublicationNo. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FORDIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS, which published on March 30, 2017, which is incorporatedherein by reference in its entirety.

Surgical Hub Coordination of Device Pairing in an Operating Room

One of the functions of the surgical hub 106 is to pair (also referredto herein as “connect” or “couple”) with other components of thesurgical system 102 to control, gather information from, or coordinateinteractions between the components of the surgical system 102. Sincethe operating rooms of a hospital are likely in close physical proximityto one another, a surgical hub 106 of a surgical system 102 mayunknowingly pair with components of a surgical system 102 in aneighboring operating room, which would significantly interfere with thefunctions of the surgical hub 106. For example, the surgical hub 106 mayunintentionally activate a surgical instrument in a different operatingroom or record information from a different ongoing surgical procedurein a neighboring operating room.

Aspects of the present disclosure present a solution, wherein a surgicalhub 106 only pairs with detected devices of the surgical system 102 thatare located within the bounds of its operating room.

Furthermore, the surgical hub 106 relies on its knowledge of thelocation of other components of the surgical system 102 within itsoperating room in making decisions about, for example, which surgicalinstruments should be paired with one another or activated. A change inthe position of the surgical hub 106 or another component of thesurgical system 102 can be problematic.

Aspects of the present disclosure further present a solution wherein thesurgical hub 106 is configured to reevaluate or redetermine the boundsof its operating room upon detecting that the surgical hub 106 has beenmoved.

Aspects of the present disclosure further present a solution wherein thesurgical hub 106 is configured to redetermine the bounds of itsoperating room upon detection of a potential device of the surgicalsystem 102, which can be an indication that the surgical hub 106 hasbeen moved.

In various aspects, a surgical hub 106 is used with a surgical system102 in a surgical procedure performed in an operating room. The surgicalhub 106 comprises a control circuit configured to determine the boundsof the operating room, determine devices of the surgical system 102located within the bounds of the operating room, and pair the surgicalhub 106 with the devices of the surgical system 102 located within thebounds of the operating room.

In one aspect, the control circuit is configured to determine the boundsof the operating room after activation of the surgical hub 106. In oneaspect, the surgical hub 106 includes a communication circuit configuredto detect and pair with the devices of the surgical system locatedwithin the bounds of the operating room. In one aspect, the controlcircuit is configured to redetermine the bounds of the operating roomafter a potential device of the surgical system 102 is detected. In oneaspect, the control circuit is configured to periodically determine thebounds of the operating room.

In one aspect, the surgical hub 106 comprises an operating room mappingcircuit that includes a plurality of non-contact sensors configured tomeasure the bounds of the operating room.

In various aspects, the surgical hub 106 includes a processor and amemory coupled to the processor. The memory stores instructionsexecutable by the processor to pair the surgical hub with devices of thesurgical system 102 located within the bounds of the operating room, asdescribed above. In various aspects, the present disclosure provides anon-transitory computer-readable medium storing computer-readableinstructions which, when executed, cause a machine to pair the surgicalhub 106 with devices of the surgical system 102 located within thebounds of the operating room, as described above.

FIGS. 35 and 36 are logic flow diagrams of processes depicting controlprograms or logic configurations for pairing the surgical hub 106 withdevices of the surgical system 102 located within the bounds of theoperating room, as described above.

The surgical hub 106 performs a wide range of functions that requiresshort- and long-range communication, such as assisting in a surgicalprocedure, coordinating between devices of the surgical system 102, andgathering and transmitting data to the cloud 104. To properly performits functions, the surgical hub 106 is equipped with a communicationmodule 130 capable of short-range communication with other devices ofthe surgical system 102. The communication module 130 is also capable oflong-range communication with the cloud 104.

The surgical hub 106 is also equipped with an operating-room mappingmodule 133 which is capable of identifying the bounds of an operatingroom, and identifying devices of the surgical system 102 within theoperating room. The surgical hub 106 is configured to identify thebounds of an operating room, and only pair with or connect to potentialdevices of the surgical system 102 that are detected within theoperating room.

In one aspect, the pairing comprises establishing a communication linkor pathway. In another aspect, the pairing comprises establishing acontrol link or pathway.

An initial mapping or evaluation of the bounds of the operating roomtakes place during an initial activation of the surgical hub 106.Furthermore, the surgical hub 106 is configured to maintain spatialawareness during operation by periodically mapping its operating room,which can be helpful in determining if the surgical hub 106 has beenmoved. The reevaluation 3017 can be performed periodically or it can betriggered by an event such as observing a change in the devices of thesurgical system 102 that are deemed within the operating room. In oneaspect, the change is detection 3010 of a new device that was notpreviously deemed as within the bounds of the operating room, asillustrated in FIG. 37. In another aspect, the change is adisappearance, disconnection, or un-pairing of a paired device that waspreviously deemed as residing within the operating room, as illustratedin FIG. 38. The surgical hub 106 may continuously monitor 3035 theconnection with paired devices to detect 3034 the disappearance,disconnection, or un-pairing of a paired device.

In other aspects, reevaluation triggering events can be, for example,changes in surgeons' positions, instrument exchanges, or sensing of anew set of tasks being performed by the surgical hub 106.

In one aspect, the evaluation of the bounds of the room by the surgicalhub 106 is accomplished by activation of a sensor array of theoperating-room mapping module 133 within the surgical hub 106 whichenables it to detect the walls of the operating room.

Other components of the surgical system 102 can be made to be spatiallyaware in the same, or a similar, manner as the surgical hub 106. Forexample, a robotic hub 122 may also be equipped with an operating-roommapping module 133.

The spatial awareness of the surgical hub 106 and its ability to map anoperating room for potential components of the surgical system 102allows the surgical hub 106 to make autonomous decisions about whetherto include or exclude such potential components as part of the surgicalsystem 102, which relieves the surgical staff from dealing with suchtasks. Furthermore, the surgical hub 106 is configured to makeinferences about, for example, the type of surgical procedure to beperformed in the operating room based on information gathered prior to,during, and/or after the performance of the surgical procedure. Examplesof gathered information include the types of devices that are broughtinto the operating room, time of introduction of such devices into theoperating room, and/or the devices sequence of activation.

In one aspect, the surgical hub 106 employs the operating-room mappingmodule 133 to determine the bounds of the surgical theater (e.g., afixed, mobile, or temporary operating room or space) using eitherultrasonic or laser non-contact measurement devices.

Referring to FIG. 34, ultrasound based non-contact sensors 3002 can beemployed to scan the operating theater by transmitting a burst ofultrasound and receiving the echo when it bounces off a perimeter wall3006 of an operating theater to determine the size of the operatingtheater and to adjust Bluetooth pairing distance limits. In one example,the non-contact sensors 3002 can be Ping ultrasonic distance sensors, asillustrated in FIG. 34.

FIG. 34 shows how an ultrasonic sensor 3002 sends a brief chirp with itsultrasonic speaker 3003 and makes it possible for a micro-controller3004 of the operating-room mapping module 133 to measure how long theecho takes to return to the ultrasonic sensor's ultrasonic microphone3005. The micro-controller 3004 has to send the ultrasonic sensor 3002 apulse to begin the measurement. The ultrasonic sensor 3002 then waitslong enough for the micro-controller program to start a pulse inputcommand Then, at about the same time the ultrasonic sensor 3002 chirps a40 kHz tone, it sends a high signal to the micro-controller 3004. Whenthe ultrasonic sensor 3002 detects the echo with its ultrasonicmicrophone 3005, it changes that high signal back to low. Themicro-controller's pulse input command measures the time between thehigh and low changes and stores its measurement in a variable. Thisvalue can be used along with the speed of sound in air to calculate thedistance between the surgical hub 106 and the operating-room wall 3006.

In one example, as illustrated in FIG. 33, a surgical hub 106 can beequipped with four ultrasonic sensors 3002, wherein each of the fourultrasonic sensors is configured to assess the distance between thesurgical hub 106 and a wall of the operating room 3000. A surgical hub106 can be equipped with more or less than four ultrasonic sensors 3002to determine the bounds of an operating room.

Other distance sensors can be employed by the operating-room mappingmodule 133 to determine the bounds of an operating room. In one example,the operating-room mapping module 133 can be equipped with one or morephotoelectric sensors that can be employed to assess the bounds of anoperating room. In one example, suitable laser distance sensors can alsobe employed to assess the bounds of an operating room. Laser-basednon-contact sensors may scan the operating theater by transmitting laserlight pulses, receiving laser light pulses that bounce off the perimeterwalls of the operating theater, and comparing the phase of thetransmitted pulse to the received pulse to determine the size of theoperating theater and to adjust Bluetooth pairing distance limits.

Referring to the top left corner of FIG. 33, a surgical hub 106 isbrought into an operating room 3000. The surgical hub 106 is activatedat the beginning of the set-up that occurs prior to the surgicalprocedure. In the example of FIG. 33, the set-up starts at an actualtime of 11:31:14 (EST) based on a real-time clock. However, at thestated procedure set-up start time, the surgical hub 106 starts 3001 anartificial randomized real-time clock timing scheme at artificial realtime 07:36:00 to protect private patient information.

At artificial real time 07:36:01, the operating-room mapping module 133employs the ultrasonic distance sensors to ultrasonically ping the room(e.g., sends out a burst of ultrasound and listens for the echo when itbounces off the perimeter walls of the operating room as describedabove) to verify the size of the operating room and to adjust pairingdistance limits.

At artificial real time 07:36:03, the data is stripped and time-stamped.At artificial real time 07:36:05, the surgical hub 106 begins pairingdevices located only within the operating room 3000 as verified usingultrasonic distance sensors 3002 of the operating-room mapping module133. The top right corner of FIG. 33 illustrates several example devicesthat are within the bounds of the operating room 3000 and are pairedwith the surgical hub 106, including a secondary display device 3020, asecondary hub 3021, a common interface device 3022, a powered stapler3023, a video tower module 3024, and a powered handheld dissector 3025.On the other hand, secondary hub 3021′, secondary display device 3020′,and powered stapler 3026 are all outside the bounds of the operatingroom 3000 and, accordingly, are not paired with the surgical hub 106.

In addition to establishing a communication link with the devices of thesurgical system 102 that are within the operating room, the surgical hub106 also assigns a unique identification and communication sequence ornumber to each of the devices. The unique sequence may include thedevice's name and a time stamp of when the communication was firstestablished. Other suitable device information may also be incorporatedinto the unique sequence of the device.

As illustrated in the top left corner of FIG. 33, the surgical hub 106has determined that the operating room 3000 bounds are at distances a,-a, b, and -b from the surgical hub 106. Since Device “D” is outside thedetermined bounds of its operating room 3000, the surgical hub 106 willnot pair with the Device “D.” FIG. 35 is an example algorithmillustrating how the surgical hub 106 only pairs with devices within thebounds of its operating room. After activation, the surgical hub 106determines 3007 bounds of the operating room using the operating-roommapping module 133, as described above. After the initial determination,the surgical hub 106 continuously searches for or detects 3008 deviceswithin a pairing range. If a device is detected 3010, the surgical hub106 then determines 3011 whether the detected device is within thebounds of the operating room. The surgical hub 106 pairs 3012 with thedevice if it is determined that the device is within the bounds of theoperating room. In certain instances, the surgical hub 106 will alsoassign 3013 an identifier to the device. If, however, the surgical hub106 determines that the detected device is outside the bounds of theoperating room, the surgical hub 106 will ignore 3014 the device.

Referring to FIG. 36, after an initial determination of the bounds ofthe room, and after an initial pairing of devices located within suchbounds, the surgical hub 106 continues to detect 3015 new devices thatbecome available for pairing. If a new device is detected 3016, thesurgical hub 106 is configured to reevaluate 3017 the bounds of theoperating room prior to pairing with the new device. If the new deviceis determined 3018 to be within the newly determined bounds of theoperating room, then the surgical hub 106 pairs with the device 3019 andassigns 3030 a unique identifier to the new device. If, however, thesurgical hub 106 determines that the new device is outside the newlydetermined bounds of the operating room, the surgical hub 106 willignore 3031 the device.

For pairing, the operating-room mapping module 133 contains a compassand integrated Bluetooth transceiver. Other communication mechanisms,which are not significantly affected by the hospital environment orgeographical location, can be employed. Bluetooth Low Energy (BLE)beacon technology can currently achieve indoor distance measurementswith accuracy of about 1-2 meters, with improved accuracy in closerproximities (within 0-6 meters). To improve the accuracy of the distancemeasurements, a compass is used with the BLE. The operating-room mappingmodule 133 utilizes the BLE and the compass to determine where modulesare located in relation to the patient. For example, two modules facingeach other (detected by compass) with greater than one meter distancebetween them may clearly indicate that the modules are on opposite sidesof the patient. The more “Hub”-enabled modules that reside in theoperating room, the greater the achievable accuracy becomes due totriangulation techniques.

In the situations where multiple surgical hubs 106, modules, and/orother peripherals are present in the same operating room, as illustratedin the top right corner of FIG. 33, the operating-room mapping module133 is configured to map the physical location of each module thatresides within the operating room. This information could be used by theuser interface to display a virtual map of the room, enabling the userto more easily identify which modules are present and enabled, as wellas their current status. In one aspect, the mapping data collected bysurgical hubs 106 are uploaded to the cloud 104, where the data areanalyzed for identifying how an operating room is physically setup, forexample.

The surgical hub 106 is configured to determine a device's location byassessing transmission radio signal strength and direction. ForBluetooth protocols, the Received Signal Strength Indication (RSSI) is ameasurement of the received radio signal strength. In one aspect, thedevices of the surgical system 102 can be equipped with USB Bluetoothdongles. The surgical hub 106 may scan the USB Bluetooth beacons to getdistance information. In another aspect, multiple high-gain antennas ona Bluetooth access point with variable attenuators can produce moreaccurate results than RSSI measurements. In one aspect, the hub isconfigured to determine the location of a device by measuring the signalstrength from multiple antennas. Alternatively, in some examples, thesurgical hub 106 can be equipped with one or more motion sensor devicesconfigured to detect a change in the position of the surgical hub 106.

Referring to the bottom left corner of FIG. 33, the surgical hub 106 hasbeen moved from its original position, which is depicted in dashedlines, to a new position closer to the device “D,” which is stilloutside the bounds of the operating room 3000. The surgical hub 106 inits new position, and based on the previously determined bounds of theoperating room, would naturally conclude that the device “D” is apotential component of the surgical system 102. However, theintroduction of a new device is a triggering event for reevaluation 3017of the bounds of the operating room, as illustrated in the examplealgorithm of FIGS. 35, 37. After performing the reevaluation, thesurgical hub 106 determines that the operating room bounds have changed.Based on the new bounds, at distances a_(new, -a) _(new), b_(new), and-b_(new), the surgical hub 106 concludes that it has been moved and thatthe Device “D” is outside the newly determined bounds of its operatingroom. Accordingly, the surgical hub 106 will still not pair with theDevice “D.”

In one aspect, one or more of the processes depicted in FIGS. 35-39 canbe executed by a control circuit of a surgical hub 106, as depicted inFIG. 10 (processor 244). In another aspect, one or more of the processesdepicted in FIGS. 35-39 can be executed by a cloud computing system 104,as depicted in FIG. 1. In yet another aspect, one or more of theprocesses depicted in FIGS. 35-39 can be executed by at least one of theaforementioned cloud computing systems 104 and/or a control circuit of asurgical hub 106 in combination with a control circuit of a modulardevice, such as the microcontroller 461 of the surgical instrumentdepicted in FIG. 12, the microcontroller 620 of the surgical instrumentdepicted in FIG. 16, the control circuit 710 of the robotic surgicalinstrument 700 depicted in FIG. 17, the control circuit 760 of thesurgical instruments 750, 790 depicted in FIGS. 18-19, or the controller838 of the generator 800 depicted in FIG. 20.

Spatial Awareness of Surgical Hubs in Operating Rooms

During a surgical procedure, a surgical instrument such as an ultrasonicor an RF surgical instrument can be coupled to a generator module 140 ofthe surgical hub 106. In addition, a separate surgical instrumentcontroller such as a foot, or hand, switch or activation device can beused by an operator of the surgical instrument to activate the energyflow from the generator to the surgical instrument. Multiple surgicalinstrument controllers and multiple surgical instruments can be usedconcurrently in an operating room. Pressing or activating the wrongsurgical instrument controller can lead to undesirable consequences.Aspects of the present disclosure present a solution in which thesurgical hub 106 coordinates the pairing of surgical instrumentcontrollers and surgical instruments to ensure patient and operatorsafety.

Aspects of the present disclosure are presented for a surgical hub 106configured to establish and sever pairings between components of thesurgical system 102 within the bounds of the operating room tocoordinate flow of information and control actions between suchcomponents. The surgical hub 106 can be configured to establish apairing between a surgical instrument controller and a surgicalinstrument that reside within the bounds of an operating room ofsurgical hub 106.

In various aspects, the surgical hub 106 can be configured to establishand sever pairings between components of the surgical system 102 basedon operator request or situational and/or spatial awareness. The hubsituational awareness is described in greater detail below in connectionwith FIG. 86.

Aspects of the present disclosure are presented for a surgical hub foruse with a surgical system in a surgical procedure performed in anoperating room. The surgical hub includes a control circuit thatselectively forms and severs pairings between devices of the surgicalsystem. In one aspect, the hub includes a control circuit is configuredto pair the hub with a first device of the surgical system, assign afirst identifier to the first device, pair the hub with a second deviceof the surgical system, assign a second identifier to the second device,and selectively pair the first device with the second device. In oneaspect, the surgical hub includes a storage medium, wherein the controlcircuit is configured to store a record indicative of the pairingbetween the first device and the second device in the storage medium. Inone aspect, the pairing between the first device and the second devicedefines a communication pathway therebetween. In one aspect, the pairingbetween the first device and the second device defines a control pathwayfor transmitting control actions from the second device to the firstdevice.

Further to the above, in one aspect, the control circuit is furtherconfigured to pair the hub with a third device of the surgical system,assign a third identifier to the third device, sever the pairing betweenthe first device and the second device, and selectively pair the firstdevice with the third device. In one aspect, the control circuit isfurther configured to store a record indicative of the pairing betweenthe first device and the third device in the storage medium. In oneaspect, the pairing between the first device and the third devicedefines a communication pathway therebetween. In one aspect, the pairingbetween the first device and the third device defines a control pathwayfor transmitting control actions from the third device to the firstdevice.

In various aspects, the surgical hub includes a processor and a memorycoupled to the processor. The memory stores instructions executable bythe processor to selectively form and sever pairings between the devicesof the surgical system, as described above. In various aspects, thepresent disclosure provides a non-transitory computer-readable mediumstoring computer-readable instructions which, when executed, cause amachine to selectively form and sever pairings between the devices ofthe surgical system, as described above. FIGS. 40 and 41 are logic flowdiagrams of processes depicting control programs or logic configurationsfor selectively forming and severing pairings between the devices of thesurgical system, as described above.

In one aspect, the surgical hub 106 establishes a first pairing with asurgical instrument and a second pairing with the surgical instrumentcontroller. The surgical hub 106 then links the pairings togetherallowing the surgical instrument and the surgical instrument controllerto operate with one another. In another aspect, the surgical hub 106 maysever an existing communication link between a surgical instrument and asurgical instrument controller, then link the surgical instrument toanother surgical instrument controller that is linked to the surgicalhub 106.

In one aspect, the surgical instrument controller is paired to twosources. First, the surgical instrument controller is paired to thesurgical hub 106, which includes the generator module 140, for controlof its activation. Second, the surgical instrument controller is alsopaired to a specific surgical instrument to prevent inadvertentactivation of the wrong surgical instrument.

Referring to FIGS. 40 and 42, the surgical hub 106 may cause thecommunication module 130 to pair 3100 or establish a first communicationlink 3101 with a first device 3102 of the surgical system 102, which canbe a first surgical instrument. Then, the hub may assign 3104 a firstidentification number to the first device 3102. This is a uniqueidentification and communication sequence or number that may include thedevice's name and a time stamp of when the communication was firstestablished.

In addition, the surgical hub 106 may then cause the communicationmodule 130 to pair 3106 or establish a second communication link 3107with a second device 3108 of the surgical system 102, which can be asurgical instrument controller. The surgical hub 106 then assigns 3110 asecond identification number to the second device 3108.

In various aspects, the steps of pairing a surgical hub 106 with adevice may include detecting the presence of a new device, determiningthat the new device is within bounds of the operating room, as describedabove in greater detail, and only pairing with the new device if the newdevice is located within the bounds of the operating room.

The surgical hub 106 may then pair 3112 or authorize a communicationlink 3114 to be established between the first device 3102 and the seconddevice 3108, as illustrated in FIG. 42. A record indicative of thecommunication link 3114 is stored by the surgical hub 106 in the storagearray 134. In one aspect, the communication link 3114 is establishedthrough the surgical hub 106. In another aspect, as illustrated in FIG.42, the communication link 3114 is a direct link between the firstdevice 3102 and the second device 3108.

Referring to FIGS. 41 and 43, the surgical hub 106 may then detect andpair 3120 or establish a third communication link 3124 with a thirddevice 3116 of the surgical system 102, which can be another surgicalinstrument controller, for example. The surgical hub 106 may then assign3126 a third identification number to the third device 3116.

In certain aspects, as illustrated in FIG. 43, the surgical hub 106 maythen pair 3130 or authorize a communication link 3118 to be establishedbetween the first device 3102 and the third device 3116, while causingthe communication link 3114 to be severed 3128, as illustrated in FIG.43. A record indicative of the formation of the communication link 3118and severing of the communication link 3114 is stored by the surgicalhub 106 in the storage array 134. In one aspect, the communication link3118 is established through the surgical hub 106. In another aspect, asillustrated in FIG. 43, the communication link 3118 is a direct linkbetween the first device 3102 and the third device 3116.

As described above, the surgical hub 106 can manage an indirectcommunication between devices of the surgical system 102. For example,in situations where the first device 3102 is a surgical instrument andthe second device 3108 is a surgical instrument controller, an output ofthe surgical instrument controller can be transmitted through thecommunication link 3107 to the surgical hub 106, which may then transmitthe output to the surgical instrument through the communication link3101.

In making a decision to connect or sever a connection between devices ofthe surgical system 102, the surgical hub 106 may rely on perioperativedata received or generated by the surgical hub 106. Perioperative dataincludes operator input, hub-situational awareness, hub-spatialawareness, and/or cloud data. For example, a request can be transmittedto the surgical hub 106 from an operator user-interface to assign asurgical instrument controller to a surgical instrument. If the surgicalhub 106 determines that the surgical instrument controller is alreadyconnected to another surgical instrument, the surgical hub 106 may severthe connection and establish a new connection per the operator'srequest.

In certain examples, the surgical hub 106 may establish a firstcommunication link between the visualization system 108 and the primarydisplay 119 to transmit an image, or other information, from thevisualization system 108, which resides outside the sterile field, tothe primary display 119, which is located within the sterile field. Thesurgical hub 106 may then sever the first communication link andestablish a second communication link between a robotic hub 122 and theprimary display 119 to transmit another image, or other information,from the robotic hub 122 to the primary display 119, for example. Theability of the surgical hub 106 to assign and reassign the primarydisplay 119 to different components of the surgical system 102 allowsthe surgical hub 106 to manage the information flow within the operatingroom, particularly between components inside the sterile field andoutside the sterile field, without physically moving these components.

In another example that involves the hub-situational awareness, thesurgical hub 106 may selectively connect or disconnect devices of thesurgical system 102 within an operating room based on the type ofsurgical procedure being performed or based on a determination of anupcoming step of the surgical procedure that requires the devices to beconnected or disconnected. The hub situational awareness is described ingreater detail below in connection with FIG. 86.

Referring to FIG. 44, the surgical hub 106 may track 3140 theprogression of surgical steps in a surgical procedure and may coordinatepairing and unpairing of the devices of the surgical system 102 basedupon such progression. For example, the surgical hub 106 may determinethat a first surgical step requires use of a first surgical instrument,while a second surgical step, occurring after completion of the firstsurgical step, requires use of a second surgical instrument.Accordingly, the surgical hub 106 may assign a surgical instrumentcontroller to the first surgical instrument for the duration of thefirst surgical step. After detecting completion 3142 of the firstsurgical step, the surgical hub 106 may cause the communication linkbetween the first surgical instrument and the surgical instrumentcontroller to be severed 3144. The surgical hub 106 may then assign thesurgical instrument controller to the second surgical instrument bypairing 3146 or authorizing the establishment of a communication linkbetween the surgical instrument controller and the second surgicalinstrument.

Various other examples of the hub-situational awareness, which caninfluence the decision to connect or disconnect devices of the surgicalsystem 102, are described in greater detail below in connection withFIG. 86.

In certain aspects, the surgical hub 106 may utilize its spatialawareness capabilities, as described in greater detail elsewhere herein,to track progression of the surgical steps of a surgical procedure andautonomously reassign a surgical instrument controller from one surgicalinstrument to another surgical instrument within the operating room ofthe surgical hub 106. In one aspect, the surgical hub 106 uses Bluetoothpairing and compass information to determine the physical position ofthe components of the surgical system 102.

In the example illustrated in FIG. 2, the surgical hub 106 is pairedwith a first surgical instrument held by a surgical operator at theoperating table and a second surgical instrument positioned on a sidetray. A surgical instrument controller can be selectively paired witheither the first surgical instrument or the second surgical instrument.Utilizing the Bluetooth pairing and compass information, the surgicalhub 106 autonomously assigns the surgical instrument controller to thefirst surgical instrument because of its proximity to the patient.

After completion of the surgical step that involved using the firstsurgical instrument, the first surgical instrument may be returned tothe side tray or otherwise moved away from the patient. Detecting achange in the position of the first surgical instrument, the surgicalhub 106 may sever the communication link between the first surgicalinstrument and the surgical instrument controller to protect againstunintended activation of the first surgical instrument by the surgicalinstrument controller. The surgical hub 106 may also reassign thesurgical instrument controller to another surgical instrument if thesurgical hub 106 detects that it has been moved to a new position at theoperating table.

In various aspects, devices of the surgical system 102 are equipped withan easy hand-off operation mode that would allow one user to giveactivation control of a device they currently control to anothersurgical instrument controller within reach of another operator. In oneaspect, the devices are equipped to accomplish the hand-off through apredetermined activation sequence of the devices that causes the devicesthat are activated in the predetermined activation sequence to pair withone another.

In one aspect, the activation sequence is accomplished by powering onthe devices to be paired with one another in a particular order. Inanother aspect, the activation sequence is accomplished by powering onthe devices to be paired with one another within a predetermined timeperiod. In one aspect, the activation sequence is accomplished byactivating communication components, such as Bluetooth, of the devicesto be paired with one another in a particular order. In another aspect,the activation sequence is accomplished by activating communicationcomponents, such as Bluetooth, of the devices to be paired within oneanother within a predetermined time period.

Alternatively, the hand-off can also be accomplished by a selection of adevice through one of the surgical-operator input devices. After theselection is completed, the next activation by another controller wouldallow the new controller to take control.

In various aspects, the surgical hub 106 can be configured to directlyidentify components of the surgical system 102 as they are brought intoan operating room. In one aspect, the devices of the surgical system 102can be equipped with an identifier recognizable by the surgical hub 106,such as, for example, a bar code or an RFID tag. NFC can also beemployed. The surgical hub 106 can be equipped with a suitable reader orscanner for detecting the devices brought into the operating room.

The surgical hub 106 can also be configured to check and/or updatevarious control programs of the devices of the surgical system 102. Upondetecting and establishing a communication link of a device of thesurgical system 102, the surgical hub 106 may check if its controlprogram is up to date. If the surgical hub 106 determines that a laterversion of the control program is available, the surgical hub 106 maydownload the latest version from the cloud 104 and may update the deviceto the latest version. The surgical hub 106 may issue a sequentialidentification and communication number to each paired or connecteddevice.

Cooperative Utilization of Data Derived from Secondary Sources byIntelligent Surgical Hubs

In a surgical procedure, the attention of a surgical operator must befocused on the tasks at hand Receiving information from multiplesources, such as, for example, multiple displays, although helpful, canalso be distracting. The imaging module 138 of the surgical hub 106 isconfigured to intelligently gather, analyze, organize/package, anddisseminate relevant information to the surgical operator in a mannerthat minimizes distractions.

Aspects of the present disclosure are presented for cooperativeutilization of data derived from multiple sources, such as, for example,an imaging module 138 of the surgical hub 106. In one aspect, theimaging module 138 is configured to overlay data derived from one ormore sources onto a livestream destined for the primary display 119, forexample. In one aspect, the overlaid data can be derived from one ormore frames acquired by the imaging module 138. The imaging module 138may commandeer image frames on their way for display on a local displaysuch as, for example, the primary display 119. The imaging module 138also comprises an image processor that may preform an array of localimage processing on the commandeered images.

Furthermore, a surgical procedure generally includes a number ofsurgical tasks which can be performed by one or more surgicalinstruments guided by a surgical operator or a surgical robot, forexample. Success or failure of a surgical procedure depends on thesuccess or failure of each of the surgical tasks. Without relevant dataon the individual surgical tasks, determining the reason for a failedsurgical procedure is a question of probability.

Aspects of the present disclosure are presented for capturing one ormore frames of a livestream of a surgical procedure for furtherprocessing and/or pairing with other data. The frames may be captured atthe completion of a surgical task (also referred to elsewhere herein as“surgical step”) to assess whether the surgical task was completedsuccessfully. Furthermore, the frames, and the paired data, can beuploaded to the cloud for further analysis.

In one aspect, one or more captured images are used to identify at leastone previously completed surgical task to evaluate the outcome of thesurgical task. In one aspect, the surgical task is a tissue-staplingtask. In another aspect, the surgical task is an advanced energytransection.

FIG. 45 is a logic flow diagram of a process 3210 depicting a controlprogram or a logic configuration for overlaying information derived fromone or more still frames of a livestream of a remote surgical site ontothe livestream. The process 3210 includes receiving 3212 a livestream ofa remote surgical site from a medical imaging device 124, for example,capturing 3214 at least one image frame of a surgical step of thesurgical procedure from the livestream, deriving 3216 informationrelevant to the surgical step from data extracted from the at least oneimage frame, and overlaying 3218 the information onto the livestream.

In one aspect, the still frames can be of a surgical step performed atthe remote surgical site. The still frames can be analyzed forinformation regarding completion of the surgical step. In one aspect,the surgical step comprises stapling tissue at the surgical site. Inanother aspect, the surgical task comprises applying energy to tissue atthe surgical site.

FIG. 46 is a logic flow diagram of a process 3220 depicting a controlprogram or a logic configuration for differentiating among surgicalsteps of a surgical procedure. The process 3220 includes receiving 3222a livestream of a surgical site from a medical imaging device 124, forexample, capturing 3224 at least one first image frame of a firstsurgical step of the surgical procedure from the livestream, deriving3226 information relevant to the first surgical step from data extractedfrom the at least one image frame, capturing 3228 at least one secondimage frame of a second surgical step of the surgical procedure from thelive stream, and differentiating 3229 among the first surgical step andthe second surgical step based on the at least one first image frame andthe at least one second image frame.

FIG. 47 is a logic flow diagram of a process 3230 depicting a controlprogram or a logic configuration for differentiating among surgicalsteps of a surgical procedure. The process 3232 includes receiving 3232a livestream of the surgical site from a medical imaging device 124, forexample, capturing 3234 image frames of the surgical steps of thesurgical procedure from the livestream and differentiating 3236 amongthe surgical steps based on data extracted from the image frames.

FIG. 48 is a logic flow diagram of a process 3240 depicting a controlprogram or a logic configuration for identifying a staple cartridge frominformation derived from one or more still frames of staples deployedfrom the staple cartridge into tissue. The process 3240 includesreceiving 3242 a livestream of the surgical site from medical imagingdevice 124, for example, capturing 3244 an image frame from thelivestream, detecting 3246 a staple pattern in the image frame, whereinthe staple pattern is defined by staples deployed from a staplecartridge into tissue at the surgical site. The process 3240 furtherincludes identifying 3248 the staple cartridge based on the staplepattern.

In various aspects, one or more of the steps of the processes 3210,3220, 3230, 3240 can be executed by a control circuit of an imagingmodule of a surgical hub, as depicted in FIGS. 3, 9, 10. In certainexamples, the control circuit may include a processor and a memorycoupled to the processor, wherein the memory stores instructionsexecutable by the processor to perform one or more of the steps of theprocesses 3210, 3220, 3230, 3240. In certain examples, a non-transitorycomputer-readable medium stores computer-readable instructions which,when executed, cause a machine to perform one or more of the steps ofthe processes 3210, 3220, 3230, 3240. For economy, the followingdescription of the processes 3210, 3220, 3230, 3240 will be described asbeing executed by the control circuit of an imaging module of a surgicalhub; however, it should be understood that the execution of theprocesses 3210, 3220, 3230, 3240 can be accomplished by any of theaforementioned examples.

Referring to FIGS. 34 and 49, a surgical hub 106 is in communicationwith a medical imaging device 124 located at a remote surgical siteduring a surgical procedure. The imaging module 138 receives alivestream of the remote surgical site transmitted by the imaging device124 to a primary display 119, for example, in accordance with steps3212, 3222, 3232, 3242.

Further to the above, the imaging module 138 of the surgical hub 106includes a frame grabber 3200. The frame grabber 3200 is configured tocapture (i.e., “grabs”) individual, digital still frames from thelivestream transmitted by the imaging device 124, for example, to aprimary display 119, for example, during a surgical procedure, inaccordance with steps 3214, 3224, 3234, 3244. The captured still framesare stored and processed by a computer platform 3203 (FIG. 49) of theimaging module 138 to derive information about the surgical procedure.Processing of the captured frames may include performance of simpleoperations, such as histogram calculations, 2D filtering, and arithmeticoperations on arrays of pixels to the performance of more complex tasks,such as object detection, 3D filtering, and the like.

In one aspect, the derived information can be overlaid onto thelivestream. In one aspect, the still frames and/or the informationresulting from processing the still frames can be communicated to acloud 104 for data aggregation and further analysis.

In various aspects, the frame grabber 3200 may include a digital videodecoder and a memory for storing the acquired still frames, such as, forexample, a frame buffer. The frame grabber 3200 may also include a businterface through which a processor can control the acquisition andaccess the data and a general purpose I/O for triggering imageacquisition or controlling external equipment.

As described above, the imaging device 124 can be in the form of anendoscope, including a camera and a light source positioned at a remotesurgical site, and configured to provide a livestream of the remotesurgical site at the primary display 119, for example.

In various aspects, image recognition algorithms can be implemented toidentify features or objects in still frames of a surgical site that arecaptured by the frame grabber 3200. Useful information pertaining to thesurgical steps associated with the captured frames can be derived fromthe identified features. For example, identification of staples in thecaptured frames indicates that a tissue-stapling surgical step has beenperformed at the surgical site. The type, color, arrangement, and sizeof the identified staples can also be used to derive useful informationregarding the staple cartridge and the surgical instrument employed todeploy the staples. As described above, such information can be overlaidon a livestream directed to a primary display 119 in the operating room.

The image recognition algorithms can be performed at least in partlocally by the computer platform 3203 (FIG. 49) of the imaging module138. In certain instances, the image recognition algorithms can beperformed at least in part by the processor module 132 of the surgicalhub 106. An image database can be utilized in performance of the imagerecognition algorithms and can be stored in a memory 3202 of thecomputer platform 3203. Alternatively, the imaging database can bestored in the storage array 134 (FIG. 3) of the surgical hub 106. Theimage database can be updated from the cloud 104.

An example image recognition algorithm that can be executed by thecomputer platform 3203 may include a key points-based comparison and aregion-based color comparison. The algorithm includes: receiving aninput at a processing device, such as, for example, the computerplatform 3203; the input, including data related to a still frame of aremote surgical site; performing a retrieving step, including retrievingan image from an image database and, until the image is either acceptedor rejected, designating the image as a candidate image; performing animage recognition step, including using the processing device to performan image recognition algorithm on the still frame and candidate imagesin order to obtain an image recognition algorithm output; and performinga comparison step, including: if the image recognition algorithm outputis within a pre-selected range, accepting the candidate image as thestill frame and if the image recognition algorithm output is not withinthe pre-selected range, rejecting the candidate image and repeating theretrieving, image recognition, and comparison steps.

Referring to FIGS. 50-52, in one example, a surgical step involvesstapling and cutting tissue. FIG. 50 depicts a still frame 3250 of astapled and cut tissue T. A staple deployment 3252 includes staples3252′, 3252″ from a first staple cartridge. A second staple deployment3254 includes staples 3254′, 3254″ from a second staple cartridge. Aproximal portion 3253 of the staple deployment 3252 overlaps with adistal portion 3255 of the staple deployment 3254. Six rows of stapleswere deployed in each deployment. Tissue T was cut between the third andfourth rows of each deployment, but only one side of the stapled tissueT is fully shown.

In various aspects, the imaging module 138 identifies one or more of thestaples 3252′, 3252″, 3254′, 3254″ in the still frame 3250, which wereabsent in a previous still frame captured by the frame grabber 3200. Theimaging module 138 then concludes that a surgical stapling and cuttinginstrument has been used at the surgical site.

In the example of FIG. 50, the staple deployment 3252 includes twodifferent staples 3252′, 3252″. Likewise, the staple deployment 3254includes two different staples 3254′, 3254″. For brevity, the followingdescription focuses on the staples 3252′, 3252″, but is equallyapplicable to the staples 3254′, 3254″. The staples 3252′, 3252″ arearranged in a predetermined pattern or sequence that forms a uniqueidentifier corresponding to the staple cartridge that housed the staples3252′, 3252″. The unique pattern can be in a single row or multiple rowsof the staples 3250. In one example, the unique pattern can be achievedby alternating the staples 3252′, 3252″ at a predetermined arrangement.

In one aspect, multiple patterns can be detected in a firing of staples.Each pattern can be associated with a unique characteristic of thestaples, the staple cartridge that housed the staples, and/or thesurgical instrument that was employed to fire the staple. For example, afiring of staples may include patterns that represent staple form,staple size, and/or location of the firing.

In the example, of FIG. 50, the imaging module 138 may identify a uniquepattern of the staples 3252 from the still frame 3250. A databasestoring staple patterns and corresponding identification numbers ofstaple cartridges can then be explored to determine an identificationnumber of a staple cartridge that housed the staples 3252.

The patterns of the example of FIG. 50 are based on only two differentstaples; however, other aspects may include three or more differentstaples. The different staples can be coated with different coatings,which can be applied to the staples by one or more of the followingmethods: anodizing, dying, electro-coating, photoluminescent coating,application of nitrides, methyl methacylate, painting, powder coating,coating with paraffins, oil stains or phosphor coatings, the use ofhydroxyapatite, polymers, titanium oxinitrides, zinc sulfides, carbides,etc. It should be noted that, while the listed coatings are fairlyspecific as disclosed herein, other coatings known in the art todistinguish the staple are within the contemplated scope of the presentdisclosure.

In the example of FIGS. 50-52, the staples 3252′ are anodized staples,while the staples 3252″ are non-anodized staples. In one aspect, thedifferent staples may comprise two or more different colors. Differentmetal staples may comprise magnetic or radioactive staple markers thatdifferentiate them from unmarked staples.

FIG. 51 illustrates a staple deployment 3272 deployed into tissue from astaple cartridge via a surgical instrument. Only three staple rows 3272a, 3272 b, 3272 c are depicted in FIG. 51. The rows 3272 a, 3272 b, 3272c are arranged between a medial line, where the tissue was cut, and alateral line at the tissue edge. For clarity, the inner row 3272 a ofstaples is redrawn separately to the left and the outer two rows 3272 b,3272 c are redrawn separately to the right. A proximal end 3273 and adistal end portion of the staple deployment 3272 are also redrawn inFIG. 51 for clarity.

The staple deployment 3272 includes two different staples 3272′, 3272″that are arranged in predetermined patterns that serve variousfunctions. For example, the inner row 3272 a comprises a pattern ofalternating staples 3272′, 3272″, which defines a metric for distancemeasurements in the surgical field. In other words, the pattern of theinner row 3272 a acts as a ruler for measuring distances, which can behelpful in accurately determining the position of a leak, for example.The outer rows 3272 b, 3272 c define a pattern that represents anidentification number of the staple cartridge that housed the staples3272′, 3272″.

Furthermore, unique patterns at the ends of the staple deployment 3272identify the proximal end portion 3273 and distal end portion 3275. Inthe example of FIG. 51, a unique arrangement of three staples 3272″identifies the distal end 3275, while a unique arrangement of fourstaples 3272″ identifies the proximal end 3273. Identification of theproximal and distal ends of a staple deployment allows the imagingmodule 128 to distinguish between different staple deployments within acaptured frame, which can be useful in pointing the source of a leak,for example.

In various aspects, the imaging module 138 may detect a sealed tissue ina still frame of a remote surgical site captured by the frame grabber3200. Detection of the sealed tissue can be indicative of a surgicalstep that involves applying therapeutic energy to tissue.

Sealing tissue can be accomplished by the application of energy, such aselectrical energy, for example, to tissue captured or clamped within anend effector of a surgical instrument in order to cause thermal effectswithin the tissue. Various mono-polar and bi-polar RF surgicalinstruments and harmonic surgical instruments have been developed forsuch purposes. In general, the delivery of energy to captured tissue canelevate the temperature of the tissue and, as a result, the energy canat least partially denature proteins within the tissue. Such proteins,like collagen, for example, can be denatured into a proteinaceousamalgam that intermixes and fuses, or seals, together as the proteinsrenature.

Accordingly, sealed tissue has a distinct color and/or shape that can bedetected by the imaging module 138 using image recognition algorithms,for example. In addition, smoke detection at the surgical site canindicate that therapeutic energy application to the tissue is inprogress.

Further to the above, the imaging module 138 of the surgical hub 106 iscapable of differentiating between surgical steps of a surgicalprocedure based on the captured frames. As described above, a stillframe that comprises fired staples is indicative of a surgical stepinvolving tissue stapling, while a still frame that comprises a sealedtissue is indicative of a surgical step involving energy application totissue.

In one aspect, the surgical hub 106 may selectively overlay informationrelevant to a previously completed surgical task onto the livestream.For example, the overlaid information may comprise image data from astill frame of the surgical site captured during the previouslycompleted surgical task. Furthermore, guided by common landmarklocations at the surgical site, the imaging module 138 can interlace oneimage frame to another to establish and detect surgical locations andrelationship data of a previously completed surgical task.

In one example, the surgical hub 106 is configured to overlayinformation regarding a potential leak in a tissue treated by staplingor application of therapeutic energy in a previously completed surgicaltask. The potential leak can be spotted by the imaging module 138 duringthe processing of a still frame of the tissue. The surgical operator canbe alerted about the leak by overlaying information about the potentialleak onto the livestream.

In various aspects, still frames of an end effector of a surgicalinstrument at a surgical site can be used to identify the surgicalinstrument. For example, the end effector may include an identificationnumber that can be recognized by the imaging module 138 during imageprocessing of the still frame. Accordingly, the still frames captured bythe imaging module 138 may be used to identify a surgical instrumentutilized in a surgical step of a surgical procedure. The still framesmay also include useful information regarding the performance of thesurgical instrument. All such information can be uploaded to the cloud104 for data aggregation and further analysis.

In various examples, the surgical hub 106 may also selectively overlayinformation relevant to a current or upcoming surgical task, such as ananatomical location or a surgical instrument suitable for the surgicaltask.

The imaging module 138 may employ various images and edge detectiontechniques to track a surgical site where a surgical instrument was usedto complete a surgical task. Success or failure of the surgical task canthen be assessed. For example, a surgical instrument can be employed toseal and/or cut tissue at the surgical site. A still frame of thesurgical site can be stored in the memory 3202 or the storage array 134of the surgical hub 106, for example, upon completion of the surgicaltask.

In the following surgical step, the quality of the seal can be testedvia different mechanisms To ensure that the testing is accuratelyapplied to the treated tissue, the stored still frame of the surgicalsite is overlaid onto the livestream in search of a match. Once a matchis found, the testing can take place. One or more additional stillframes can be taken during the testing, which can be later analyzed bythe imaging module 138 of the surgical hub 106. The testing mechanismsinclude bubble detection, bleeding detection, dye detection (where a dyeis employed at the surgical site), and/or burst stretch detection (wherea localized strain is applied adjacent to an anastomosis site), forexample.

The imaging module 138 may capture still frames of the response of thetreated tissue to these tests, which can be stored in the memory 3202 orthe storage array 134 of the surgical hub 106, for example. The stillframes can be stored alone or in combination with other data, such as,for example, data from the surgical instrument that performed the tissuetreatment. The paired data can also be uploaded to the cloud 104 foradditional analysis and/or pairing.

In various aspects, the still frames captured by the frame grabber 3200can be processed locally, paired with other data, and can also betransmitted to the cloud 104. The size of the processed and/ortransmitted data will depend on the number of captured frames. Invarious aspects, the rate at which the frame grabber 3200 captures thestill frames from the livestream can be varied in an effort to reducethe size of the data without sacrificing quality.

In one aspect, the frame-capturing rate may depend on the type ofsurgical task being performed. Certain surgical tasks may need a highernumber of still frames than others for an evaluation of success orfailure. The frame-capturing rate can be scalded to accommodate suchneeds.

In one aspect, the frame-capturing rate is dependent upon the detectedmotion of the imaging device 124. In use, an imaging device 124 maytarget one surgical site for a period of time. Observing no or minorchanges in the still frames captured while the imaging device 124 is notbeing moved, the imaging module 138 may reduce the frame-capturing rateof the frame grabber 3200. If the situation changes, however, wherefrequent motion is detected, the imaging module 138 may respond byincreasing the frame-capturing rate of the frame grabber 3200. In otherwords, the imaging module 138 may be configured to correlate theframe-capturing rate of the frame grabber 3200 with the detected degreeof motion of the imaging device 124.

For additional efficiency, only portions of the still frames, wheremotion is detected, need to be stored, processed, and/or transmitted tothe cloud 104. The imaging module 138 can be configured to select theportions of the still frames where motion is detected. In one example,motion detection can be achieved by comparing a still frame to apreviously captured still frame. If movement is detected, the imagingmodule 138 may cause the frame grabber 3200 to increase theframe-capturing rate, but only the portions where motion is detected arestored, processed, and/or transmitted to the cloud 104.

In another aspect, the data size can be managed by scaling theresolution of the captured information based on the area of the screenwhere the focal point is or where end effectors are located, forexample. The remainder of the screen could be captured at a lowerresolution.

In one aspect, the corners of the screen and the edges could generallybe captured at a lower resolution. The resolution, however, can bescalded up if an event of significance is observed.

During a surgical procedure, the surgical hub 106 can be connected tovarious operating-room monitoring devices, such as, for example, heartrate monitors and insufflation pumps. Data collected from these devicescan improve the situational awareness of the surgical hub 106. The hubsituational awareness is described in greater detail below in connectionwith FIG. 86.

In one example, the surgical hub 106 can be configured to utilizepatient data received from a heart rate monitor connected along withdata regarding the location of the surgical site to assess proximity ofthe surgical site to sensory nerves. An increase in the patient's heartrate, when combined with anatomical data indicating that the surgicalsite is in a region high in sensory nerves, can be construed as anindication of sensory nerve proximity. Anatomical data can be availableto the surgical hub 106 through accessing patient records (e.g., an EMRdatabase containing patient records).

The surgical hub 106 may be configured to determine the type of surgicalprocedure being performed on a patient from data received from one ormore of the operating-room monitoring devices, such as, for example,heart rate monitors and insufflation pumps. Abdominal surgicalprocedures generally require insufflation of the abdomen, whileinsufflation is not required in theoretic surgery. The surgical hub 106can be configured to determine whether a surgical procedure is anabdominal or a thoracic surgical procedure by detecting whether theinsufflation pump is active. In one aspect, the surgical hub 106 may beconfigured to monitor insufflation pressure on the output side of theinsufflation pump in order to determine whether the surgical procedurebeing performed is one that requires insufflation.

The surgical hub 106 may also gather information from other secondarydevices in the operating room to assess, for example, whether thesurgical procedure is a vascular or avascular procedure.

The surgical hub 106 may also monitor AC current supply to one or moreof its components to assess whether a component is active. In oneexample, the surgical hub 106 is configured to monitor AC current supplyto the generator module to assess whether the generator is active, whichcan be an indication that the surgical procedure being performed is onethat requires application of energy to seal tissue.

In various aspects, secondary devices in the operating room that areincapable of communication with the surgical hub 106 can be equippedwith communication interface devices (communication modules) that canfacilitate pairing of these devices with the surgical hub 106. In oneaspect, the communication interface devices may be configured to bebridging elements, which would allow them two-way communication betweenthe surgical hub 106 and such devices.

In one aspect, the surgical hub 106 can be configured to control one ormore operational parameters of a secondary device through acommunication interface device. For example, the surgical hub 106 can beconfigured to increase or decrease the insufflation pressure through acommunication interface device coupled to an insufflation device.

In one aspect, the communication interface device can be configured toengage with an interface port of the device. In another aspect, thecommunication interface device may comprise an overlay or otherinterface that directly interacts with a control panel of the secondarydevice. In other aspects, the secondary devices, such as, for example,the heart rate monitor and/or the insufflation devices, can be equippedwith integrated communication modules that allow them to pair with thehub for two-way communication therewith.

In one aspect, the surgical hub 106 can also be connected through acommunication interface device, for example, to muscle pads that areconnected to the neuro-stim detection devices to improve resolution of anerve-sensing device.

Furthermore, the surgical hub 106 can also be configured to manageoperating room supplies. Different surgical procedures require differentsupplies. For example, two different surgical procedures may requiredifferent sets of surgical instruments. Certain surgical procedures mayinvolve using a robotic system, while others may not. Furthermore, twodifferent surgical procedures may require staple cartridges that aredifferent in number, type, and/or size. Accordingly, the suppliesbrought into the operating room can provide clues as to the nature ofthe surgical procedure that will be performed.

In various aspects, the surgical hub 106 can be integrated with anoperating room supplies scanner to identify items pulled into theoperating room and introduced into the sterile field. The surgical hub106 may utilize data from the operating room supplies scanner, alongwith data from the devices of the surgical system 102 that are pairedwith the surgical hub 106, to autonomously determine the type ofsurgical procedure that will be performed. In one example, the surgicalhub 106 may record a list of serial numbers of the smart cartridge thatare going to be used in the surgical procedure. During the surgicalprocedure, the surgical hub 106 may gradually remove the staples thathave been fired, based on information collected from the staplecartridge chips. In one aspect, the surgical hub 106 is configured tomake sure that all the items are accounted for at the end of theprocedure.

Surgical Hub Control Arrangements

In a surgical procedure, a second surgical hub may be brought into anoperating room already under the control of a first surgical hub. Thesecond surgical hub can be, for example, a surgical robotic hub broughtinto the operating room as a part of a robotic system. Withoutcoordination between the first and second surgical hubs, the roboticsurgical hub will attempt to pair with all the other components of thesurgical system 102 that are within the operating room. The confusionarising from the competition between two hubs in a single operating roomcan lead to undesirable consequences. Also, sorting out the instrumentdistribution between the hubs during the surgical procedure can be timeconsuming.

Aspects of the present disclosure are presented for a surgical hub foruse with a surgical system in a surgical procedure performed in anoperating room. A control circuit of the surgical hub is configured todetermine the bounds of the operating room and establish a controlarrangement with a detected surgical hub located within the bounds ofthe operating room.

In one aspect, the control arrangement is a peer-to-peer arrangement. Inanother aspect, the control arrangement is a master-slave arrangement.In one aspect, the control circuit is configured to select one of amaster mode of operation or a slave mode of operation in themaster-slave arrangement. In one aspect, the control circuit isconfigured to surrender control of at least one surgical instrument tothe detected surgical hub in the slave mode of operation.

In one aspect, the surgical hub includes an operating room mappingcircuit that includes a plurality of non-contact sensors configured tomeasure the bounds of the operating room.

In various aspects, the surgical hub includes a processor and a memorycoupled to the processor. The memory stores instructions executable bythe processor to coordinate a control arrangement between surgical hubs,as described above. In various aspects, the present disclosure providesa non-transitory computer-readable medium storing computer-readableinstructions which, when executed, cause a machine to coordinate acontrol arrangement between surgical hubs, as described above.

Aspects of the present disclosure are presented for a surgical systemcomprising two independent surgical hubs that are configured to interactwith one another. Each of the hubs has their own linked surgical devicesand the control designation of and distribution of where data isrecorded and processed. This interaction causes one or both hubs tochange how they were behaving before the interaction. In one aspect, thechange involves a redistribution of devices previously assigned to eachof the hubs. In another aspect, the change involves establishing amaster-slave arrangement between the hubs. In yet another aspect, thechange can be a change in the location of the processing shared betweenthe hubs.

FIG. 53 is a logic flow diagram of a process depicting a control programor a logic configuration for coordinating a control arrangement betweensurgical hubs. The process of FIG. 53 is similar in many respects to theprocess of FIG. 35 except that the process of FIG. 53 addressesdetection of a surgical hub by another surgical hub. As illustrated inFIG. 53, the surgical hub 106 determines 3007 the bounds of theoperating room. After the initial determination, the surgical hub 106continuously searches for or detects 3008 devices within a pairingrange. If a device is detected 3010, and if the detected device islocated 3011 within the bounds of the operating room, the surgical hub106 pairs 3012 with the device and assigns 3013 an identifier to thedevice. If through an initial interaction, as described below in greaterdetail, the surgical hub 106 determines 3039 that the device is anothersurgical hub, a control arrangement is established 3040 therebetween.

Referring to FIG. 54, a robotic surgical hub 3300 enters an operatingroom already occupied by a surgical hub 3300. The robotic surgical hub3310 and the surgical hub 3300 are similar in many respects to othersurgical hubs described in greater detail elsewhere herein, such as, forexample, the surgical hubs 106. For example, the robotic surgical hub3310 includes non-contact sensors configured to measure the bounds ofthe operating room, as described in greater detail elsewhere herein inconnection with FIGS. 33, 34.

As the robotic surgical hub 3310 is powered up, it determines the boundsof the operating room and begins to pair with other components of thesurgical system 102 that are located within the bounds of the operatingroom. The robotic surgical hub 3310 pairs with a robotic advanced energytool 3311, a robotic stapler 3312, a monopolar energy tool 3313, and arobotic visualization tower 3314, which are all located within thebounds of the operating room. The surgical hub 3300 is already pairedwith a handheld stapler 3301, a handheld powered dissector 3302, asecondary display 3303, a surgeon interface 3304, and a visualizationtower 3305. Since the handheld stapler 3301, the handheld powereddissector 3302, the secondary display 3303, the surgeon interface 3304,and the visualization tower 3305 are already paired with the surgicalhub 3300, such devices cannot pair with another surgical hub withoutpermission from the surgical hub 3300.

Further to the above, the robotic surgical hub 3310 detects and/or isdetected by the surgical hub 3300. A communication link is establishedbetween the communication modules of the surgical hubs 3300, 3310. Thesurgical hubs 3300, 3310 then determine the nature of their interactionby determining a control arrangement therebetween. In one aspect, thecontrol arrangement can be a master-slave arrangement. In anotheraspect, the control arrangement can be a peer-to-peer arrangement.

In the example of FIG. 54, a master-slave arrangement is established.The surgical hubs 3300, 3310 request permission from a surgical operatorfor the robotic surgical hub 3310 to take control of the operating roomfrom the surgical hub 3300. The permission can be requested through asurgeon interface or console 3304. Once permission is granted, therobotic surgical hub 3310 requests the surgical hub 3300 to transfercontrol to the robotic surgical hub 3310.

Alternatively, the surgical hubs 3300, 3310 can negotiate the nature oftheir interaction without external input based on previously gathereddata. For example, the surgical hubs 3300, 3310 may collectivelydetermine that the next surgical task requires use of a robotic system.Such determination may cause the surgical hub 3300 to autonomouslysurrender control of the operating room to the robotic surgical hub3310. Upon completion of the surgical task, the robotic surgical hub3310 may then autonomously return the control of the operating room tosurgical hub 3300.

The outcome of the interaction between the surgical hubs 3300, 3310 isillustrated on the right of FIG. 54. The surgical hub 3300 hastransferred control to the robotic surgical hub 3310, which has alsotaken control of the surgeon interface 3304 and the secondary display3303 from the surgical hub 3300. The robotic surgical hub 3310 assignsnew identification numbers to the newly transferred devices. Thesurgical hub 3300 retains control the handheld stapler 3301, thehandheld powered dissector 3302, and visualization tower 3305. Inaddition, the surgical hub 3300 performs a supporting role, wherein theprocessing and storage capabilities of the surgical hub 3300 are nowavailable to the robotic surgical hub 3310.

FIG. 55 is a logic flow diagram of a process depicting a control programor a logic configuration for coordinating a control arrangement betweensurgical hubs. In various aspects, two independent surgical hubs willinteract with one another in a predetermined manner to assess the natureof their relationship. In one example, after establishing 3321 acommunication link, the surgical hubs exchange 3322 data packets. A datapacket may include type, identification number, and/or status of asurgical hub. A data packet may further include a record of devicesunder control of the surgical hub and/or any limited communicationconnections, such as data ports for other secondary operating roomdevices.

The control arrangement between the surgical hubs is then determined3323 based on input from a surgical operator or autonomously between thesurgical hubs. The surgical hubs may store instructions as to how todetermine a control arrangement therebetween. The control arrangementbetween two surgical hubs may depend on the type of surgical procedurebeing performed. The control arrangement between two surgical hubs maydepend on their types, identification information, and/or status. Thecontrol arrangement between two surgical hubs may depend on the devicespaired with the surgical hubs. The surgical hubs then redistribute 3324the devices of the surgical system 102 therebetween based upon thedetermined control arrangement.

In the master-slave arrangement, the record communication can beunidirectional from the slave hub to the master hub. The master hub mayalso require the slave hub to hand-off some of its wireless devices toconsolidate communication pathways. In one aspect, the slave hub can berelegated to a relay configuration with the master hub originating allcommands and recording all data. The slave hub can remain linked to themaster hub for a distributed sub-processing of the master hub commands,records, and/or controls. Such interaction expands the processingcapacity of the dual linked hubs beyond the capabilities of the masterhub by itself.

In a peer-to-peer arrangement, each surgical hub may retain control ofits devices. In one aspect, the surgical hubs may cooperate incontrolling a surgical instrument. In one aspect, an operator of thesurgical instrument may designate the surgical hub that will control thesurgical instrument at the time of its use.

Referring generally to FIGS. 56-61, the interaction between surgicalhubs can be extended beyond the bounds of the operating room. In variousaspects, surgical hubs in separate operating rooms may interact with oneanother within predefined limits. Depending on their relative proximity,surgical hubs in separate operating rooms may interact through anysuitable wired or wireless data communication network such as Bluetoothand WiFi. As used here, a “data communication network” represents anynumber of physical, virtual, or logical components, including hardware,software, firmware, and/or processing logic configured to support datacommunication between an originating component and a destinationcomponent, where data communication is carried out in accordance withone or more designated communication protocols over one or moredesignated communication media.

In various aspects, a first surgical operator in a first operating roommay wish to consult a second surgical operator in a second operatingroom, such as in case of an emergency. A temporary communication linkmay be established between the surgical hubs of the first and secondoperating room to facilitate the consult while the first and secondsurgical operators remain in their respective operating rooms.

The surgical operator being consulted can be presented with a consultrequest through the surgical hub in his/her operating room. If thesurgical operator accepts, he/she will have access to all the datacompiled by the surgical hub requesting the consult. The surgicaloperator may access all previously stored data, including a full historyof the procedure. In addition, a livestream of the surgical site at therequesting operating room can be transmitted through the surgical hubsto a display at the receiving operating room.

When a consult request begins, the receiving surgical hub begins torecord all received information in a temporarily storage location, whichcan be a dedicated portion of the storage array of the surgical hub. Atthe end of the consult, the temporary storage location is purged fromall the information. In one aspect, during a consult, the surgical hubrecords all accessible data, including blood pressure, ventilation data,oxygen stats, generator settings and uses, and all patient electronicdata. The recorded data will likely be more than the data stored by thesurgical hub during normal operation, which is helpful in providing thesurgical operator being consulted with as much information as possiblefor the consult.

Referring to FIG. 56, a non-limiting example of an interaction betweensurgical hubs in different operating rooms is depicted. FIG. 56 depictsan operating room OR 1 that includes a surgical system 3400 supporting athoracic segmentectomy and a second operating room OR 3 that includes asurgical system 3410 supporting a colorectal procedure. The surgicalsystem 3400 includes surgical hub 3401, surgical hub 3402, and roboticsurgical hub 3403. The surgical system 3400 further includes a personalinterface 3406, a primary display 3408, and secondary displays 3404,3405. The surgical system 3410 includes a surgical hub 3411 and asecondary display 3412. For clarity, several components of the surgicalsystems 3400, 3410 are removed.

In the example of FIG. 56, the surgical operator of OR 3 is requesting aconsult from the surgical operator of OR 1. A surgical hub 3411 of theOR 3 transmits the consult request to one of the surgical hubs of the OR1, such as the surgical hub 3401. In OR 1, the surgical hub 3401presents the request at a personal interface 3406 held by the surgicaloperator. The consult is regarding selecting an optimal location of acolon transection. The surgical operator of OR 1, through a personalinterface 3406, recommends an optimal location for the transection sitethat avoids a highly vascular section of the colon. The recommendationis transmitted in real time through the surgical hubs 3401, 3411.Accordingly, the surgical operator is able to respond to the consultrequest in real time without having to leave the sterile field of hisown operating room. The surgical operator requesting the consult alsodid not have to leave the sterile field of OR 3.

If the surgical hub 3401 is not in communication with the personalinterface 3406, it may relay the message to another surgical hub suchas, for example, the surgical hub 3402 or the robotic surgical hub 3403.Alternatively, the surgical hub 3401 may request control of the personalinterface 3406 from another surgical hub.

In any event, if the surgical operator of OR 1 decides to accept theconsult request, a livestream, or frames, of a surgical site 3413 of thecolorectal procedure of OR 3 is transmitted to OR 1 through a connectionestablished between the surgical hubs 3401, 3411, for example. FIG. 57illustrates a livestream of the surgical site 3413 displayed on asecondary display of OR 3. The surgical hubs 3401, 3411 cooperate totransmit the livestream of the surgical site of OR 3 to the personalinterface 3406 of the OR 1, as illustrated in FIG. 58.

Referring to FIGS. 59-61, the surgical operator may expand thelaparoscopic livestream from OR 3 onto the primary display 3405 in OR 1,for example, through the controls of the personal interface 3406. Thepersonal interface 3406 allows the surgical operator to select adestination for the livestream by presenting the surgical operator withicons that represent the displays that are available in OR 1, asillustrated in FIG. 60. Other navigation controls 3407 are available tothe surgical operator through the personal interface 3406, asillustrated in FIG. 61. For example, the personal interface 3406includes navigation controls for adjusting the livestream of thesurgical site of OR 3 in OR 1 by the surgical operator moving his or herfingers on the livestream displayed on the personal interface 3406. Tovisualize the high vasculature regions, the consulted surgical operatormay change the view of the livestream from OR 3 through the personalinterface 3406 to an advanced imaging screen. The surgical operator maythen manipulate the image in multiple planes to see the vascularizationusing a wide-angle multi-spectral view, for example.

As illustrated in FIG. 61, the surgical operator also has access to anarray of relevant information 3420, such as, for example, heart rate,blood pressure, ventilation data, oxygen stats, generator settings anduses, and all patient electronic data of the patient in OR 3.

Data Management and Collection

In one aspect the surgical hub provides data storage capabilities. Thedata storage includes creation and use of self-describing data includingidentification features, management of redundant data sets, and storageof the data in a manner of paired data sets which can be grouped bysurgery but not necessarily keyed to actual surgical dates and surgeonsto maintain data anonymity. The following description incorporates byreference all of the “hub” and “cloud” analytics system hardware andsoftware processing techniques to implement the specific data managementand collection techniques described hereinbelow, as incorporated byreference herein. FIGS. 62-80 will be described in the context of theinteractive surgical system 100 environment including a surgical hub106, 206 described in connection FIGS. 1-11 and intelligent instrumentsand generators described in connection with FIGS. 12-21.

Electronic Medical Record (EMR) Interaction

FIG. 62 is a diagram 4000 illustrating a technique for interacting witha patient Electronic Medical Record (EMR) database 4002, according toone aspect of the present disclosure. In one aspect, the presentdisclosure provides a method of embedding a key 4004 within the EMRdatabase 4002 located within the hospital or medical facility. A databarrier 4006 is provided to preserve patient data privacy and allows thereintegration of stripped and isolated data pairs, as describedhereinbelow, from the surgical hub 106, 206 or the cloud 104, 204, to bereassembled. A schematic diagram of the surgical hub 206 is describedgenerally in FIGS. 1-11 and in particular in FIGS. 9-10. Therefore, inthe description of FIG. 62, the reader is guided to FIG. 1-11 and inparticular FIGS. 9-10 for any implementation details of the surgical hub206 that may be omitted here for conciseness and clarity of disclosure.Returning to FIG. 62, the method allows the users full access to all thedata collected during a surgical procedure and patient informationstored in the form of electronic medical records 4012. The reassembleddata can be displayed on a monitor 4010 coupled to the surgical hub 206or secondary monitors but is not permanently stored on any surgical hubstorage device 248. The reassembled data is temporarily stored in astorage device 248 located either in the surgical hub 206 or the cloud204 and is deleted at the end of its use and overwritten to insure itcannot be recovered. The key 4004 in the EMR database 4002 is used toreintegrate anonymized hub data back into full integrated patientelectronic medical records 4012 data.

As shown in FIG. 62, the EMR database 4002 is located within thehospital data barrier 4006. The EMR database 4002 may be configured forstoring, retrieving, and managing associative arrays, or other datastructures known today as a dictionary or hash. Dictionaries contain acollection of objects, or records, which in turn have many differentfields within them, each containing data. The patient electronic medicalrecords 4012 may be stored and retrieved using a key 4004 that uniquelyidentifies the patient electronic medical record 4012, and is used toquickly find the data within the EMR database 4002. The key-value EMRdatabase 4002 system treats the data as a single opaque collection whichmay have different fields for every record.

Information from the EMR database 4002 may be transmitted to thesurgical hub 206 and the patient electronic medical records 4012 data isredacted and stripped before it is sent to an analytics system basedeither on the hub 206 or the cloud 204. An anonymous data file 4016 iscreated by redacting personal patient data and stripping relevantpatient data 4018 from the patient electronic medical record 4012. Asused herein, the redaction process includes deleting or removingpersonal patient information from the patient electronic medical record4012 to create a redacted record that includes only anonymous patientdata. A redacted record is a record from which sensitive patientinformation has been expunged. Un-redacted data may be deleted 4019. Therelevant patient data 4018 may be referred to herein asstripped/extracted data 4018. The relevant patient data 4018 is used bythe surgical hub 206 or cloud 204 processing engines for analyticpurposes and may be stored on the storage device 248 of the surgical hub206 or may be stored on the cloud 204 based analytics system storagedevice 205. The surgical hub anonymous data file 4016 can be rebuiltusing a key 4004 stored in the EMR database 4002 to reintegrate thesurgical hub anonymous data file 4016 back into a fully integratedpatient electronic medical record 4012. The relevant patient data 4018that is used in analytic processes may include information such as thepatient's diagnoses of emphysema, pre-operative treatment (e.g.,chemotherapy, radiation, blood thinner, blood pressure medication,etc.), typical blood pressures, or any data that alone cannot be used toascertain the identity of the patient. Data 4020 to be redacted includespersonal information removed from the patient electronic medical record4012, may include age, employer, body mass index (BMI), or any data thatcan be used to ascertain the identify of the patient. The surgical hub206 creates a unique anonymous procedure ID number (e.g., 380i4z), forexample, as described in FIG. 63. Within the EMR database 4002 locatedin the hospital data barrier 4006, the surgical hub 206 can reunite thedata in the anonymous data file 4016 stored on the surgical hub 206storage device 248 with the data in the patient electronic medicalrecord 4012 stored on the EMR database 4002 for surgeon review. Thesurgical hub 206 displays the combined patient electronic medical record4012 on a display or monitor 4010 coupled to the surgical hub 206.Ultimately, un-redacted data is deleted 4019 from the surgical hub 206storage 248.

Creation of a Hospital Data Barrier, Inside Which the Data from Hubs CanBe Compared Using Non-Anonymized Data and Outside of Which the Data Hasto Be Stripped

In one aspect, the present disclosure provides a surgical hub 206 asdescribed in FIGS. 9 and 10, for example, where the surgical hub 206comprises a processor 244; and a memory 249 coupled to the processor244. The memory 249 stores instructions executable by the processor 244to interrogate a surgical instrument 235, retrieve a first data set fromthe surgical instrument 235, interrogate a medical imaging device 238,retrieve a second data set from the medical imaging device 238,associate the first and second data sets by a key, and transmit theassociated first and second data sets to a remote network, e.g., thecloud 204, outside of the surgical hub 206. The surgical instrument 235is a first source of patient data and the first data set is associatedwith a surgical procedure. The medical imaging device 238 is a secondsource of patient data and the second data set is associated with anoutcome of the surgical procedure. The first and second data records areuniquely identified by the key.

In another aspect, the surgical hub 206 provides a memory 249 storinginstructions executable by the processor 244 to retrieve the first dataset using the key, anonymize the first data set, retrieve the seconddata set using the key, anonymize the second data set, pair theanonymized first and second data sets, and determine success rate ofsurgical procedures grouped by the surgical procedure based on theanonymized paired first and second data sets.

In another aspect, the surgical hub 206 provides a memory 249 storinginstructions executable by the processor 244 to retrieve the anonymizedfirst data set, retrieve the anonymized second data set, and reintegratethe anonymized first and second data sets using the key.

In another aspect, the first and second data sets define first andsecond data payloads in respective first and second data packets.

In various aspects, the present disclosure provides a control circuit toassociate the first and second data sets by a key as described above. Invarious aspects, the present disclosure provides a non-transitorycomputer readable medium storing computer readable instructions which,when executed, causes a machine to associate the first and second datasets by a key as described above.

During a surgical procedure it would be desirable to monitor dataassociated with the surgical procedure to enable configuration andoperation of instruments used during the procedure to improve surgicaloutcomes. The technical challenge is to retrieve the data in a mannerthat maintains the anonymity of the patient to maintain privacy of thedata associated with the patient. The data may be used forconglomeration with other data without individualizing the data.

One solution provides a surgical hub 206 to interrogate an electronicmedical records database 4002 for patient electronic medical records4012 data, strip out desirable or relevant patient data 4018 from thepatient electronic medical record 4012, and redact any personalinformation that could be used to identify the patient. The redactiontechnique removes any information that could be used to correlate thestripped relevant patient data 4018 to a specific patient, surgery, ortime. The surgical hub 206 and the instruments 235 coupled to thesurgical hub 206 can then be configured and operated based on thestripped relevant patient data 4018.

As disclosed in connection with FIG. 62, extracting (or stripping)relevant patient data 4018 from a patient electronic medical record 4012while redacting any information that can be used to correlate thepatient with the surgery or a scheduled time of the surgery enables therelevant patient data 4018 to be anonymized. The anonymous data file4016 can then be sent to the cloud 204 for aggregation, processing, andmanipulation. The anonymous data file 4016 can be used to configure thesurgical instrument 235, or any of the modules shown in FIGS. 9 and 10or the surgical hub 206 during the surgery based on the extractedanonymous data file 4016.

In one aspect, a hospital data barrier 4006 is created such that insidethe data barrier 4006 data from various surgical hubs 206 can becompared using non-anonymized un-redacted data and outside the databarrier 4006 data from various surgical hubs 206 are stripped tomaintain anonymity and protect the privacy of the patient and thesurgeon. This aspect is discussed further in connection with FIG. 66.

In one aspect, the data from a surgical hub 206 can be exchanged betweensurgical hubs 206 (e.g., hub-to-hub, switch-to-switch, orrouter-to-router) to provide in-hospital analysis and display of thedata. FIG. 1 shows an example of multiple hubs 106 in communicationwhich each other and with the cloud 104. This aspect also is discussedfurther in connection with FIG. 66.

In another aspect, an artificial time measure is substituted for a realtime clock for all information stored internally within an instrument235, a robot located in a robot hub 222, a surgical hub 206, and/orhospital computer equipment. The anonymized data, which may includeanonymized patient and surgeon data, is transmitted to the server 213 inthe cloud 204 and it is stored in the cloud storage device 205 coupledto the server 213. The substitution of an artificial real time clockenables anonymizing the patient data and surgeon data while maintainingdata continuity. In one aspect, the instrument 235, robot hub 222,surgical hub 206, and/or the cloud 204 are configured to obscure patientidentification (ID) while maintaining data continuity. This aspect isdiscussed further in connection with FIG. 63.

Within the surgical hub 206, a local decipher key 4004 allowsinformation retrieved from the surgical hub 206 itself to reinstate thereal-time information from the anonymized data set located in theanonymous data file 4016. The data stored on the hub 206 or the cloud204, however, cannot be reinstated to real-time information from theanonymized data set in the anonymous data file 4016. The key 4004 isheld locally in the surgical hub 206 computer/storage device 248 in anencrypted format. The surgical hub 206 network processor ID is part ofthe decryption mechanism such that if the key 4004 and data is removed,the anonymized data set in the anonymous data file 4016 cannot berestored without being on the original surgical hub 206 computer/storagedevice 248.

Substituting Artificial Time Measure for Real Time Clock For AllInternally Stored Information and Sent to the Cloud as a Means toAnonymizing the Patient and Surgeon Data

FIG. 63 illustrates a process 4030 of anonymizing a surgical procedureby substituting an artificial time measure for a real time clock for allinformation stored internally within the instrument, robot, surgicalhub, and/or hospital computer equipment, according to one aspect of thepresent disclosure. As shown in FIG. 63, the surgical procedure set-upstart time 4032 was scheduled to begin at an actual time of 11:31:14(EST) based on a real time clock. At the stated procedure set-up starttime 4032, the surgical hub 206 starts 4034 an artificial randomizedreal time clock timing scheme at artificial real time at 07:36:00. Thesurgical hub 206 then ultrasonically pings 4036 the operating theater(e.g., sends out a burst of ultrasound and listens for the echo when itbounces off the perimeter walls of an operating theater (e.g., a fixed,mobile, temporary, or field the operating room) as described inconnection with FIG. 64 to verify the size of the operating theater andto adjust short range wireless, e.g., Bluetooth, pairing distance limitsat artificial real time 07:36:01. At artificial real time 07:36:03, thesurgical hub 206 strips 4038 the relevant data and applies a time stampto the stripped data. At artificial real time 07:36:05, the surgical hub206 wakes up and begins pairing 4040 only devices located within theoperating theater as verified using the ultrasonic pinging 4036 process.

FIG. 64 illustrates ultrasonic pinging of an operating room wall todetermine a distance between a surgical hub and the operating room wall,in accordance with at least one aspect of the present disclosure. Withreference also to FIG. 2, the spatial awareness of the surgical hub 206and its ability to map an operating room for potential components of thesurgical system allows the surgical hub 206 to make autonomous decisionsabout whether to include or exclude such potential components as part ofthe surgical system, which relieves the surgical staff from dealing withsuch tasks. Furthermore, the surgical hub 206 is configured to makeinferences about, for example, the type of surgical procedure to beperformed in the operating room based on information gathered prior to,during, and/or after the performance of the surgical procedure. Examplesof gathered information include the types of devices that are broughtinto the operating room, time of introduction of such devices into theoperating room, and/or the devices sequence of activation.

In one aspect, the surgical hub 206 employs the operating-room mappingmodule, such as, for example, the non-contact sensor module 242 todetermine the bounds of the surgical theater (e.g., a fixed, mobile, ortemporary operating room or space) using either ultrasonic or lasernon-contact measurement devices.

Referring now to FIG. 64, ultrasound based non-contact sensors 3002 canbe employed to scan the operating theater by transmitting a burst ofultrasound and receiving the echo when it bounces off a perimeter wall3006 of an operating theater to determine the size of the operatingtheater and to adjust short range wireless, e.g., Bluetooth, pairingdistance limits. In one example, the non-contact sensors 3002 can bePing ultrasonic distance sensors, as illustrated in FIG. 64.

FIG. 64 shows how an ultrasonic sensor 3002 sends a brief chirp with itsultrasonic speaker 3003 and makes it possible for a micro-controller3004 of the operating-room mapping module to measure how long the echotakes to return to the ultrasonic sensor's ultrasonic microphone 3005.The micro-controller 3004 has to send the ultrasonic sensor 3002 a pulseto begin the measurement. The ultrasonic sensor 3002 then waits longenough for the micro-controller program to start a pulse input commandThen, at about the same time the ultrasonic sensor 3002 chirps a 40 kHztone, it sends a high signal to the micro-controller 3004. When theultrasonic sensor 3002 detects the echo with its ultrasonic microphone3005, it changes that high signal back to low. The micro-controller'spulse input command measures the time between the high and low changes,and stores it measurement in a variable. This value can be used alongwith the speed of sound in air to calculate the distance between thesurgical hub 106 and the operating-room wall 3006.

In one example, a surgical hub 206 can be equipped with four ultrasonicsensors 3002, wherein each of the four ultrasonic sensors is configuredto assess the distance between the surgical hub 206 and a wall of theoperating room 3000. A surgical hub 206 can be equipped with more orless than four ultrasonic sensors 3002 to determine the bounds of anoperating room.

Other distance sensors can be employed by the operating-room mappingmodule to determine the bounds of an operating room. In one example, theoperating-room mapping module can be equipped with one or morephotoelectric sensors that can be employed to assess the bounds of anoperating room. In one example, suitable laser distance sensors can alsobe employed to assess the bounds of an operating room. Laser basednon-contact sensors may scan the operating theater by transmitting laserlight pulses, receiving laser light pulses that bounce off the perimeterwalls of the operating theater, and comparing the phase of thetransmitted pulse to the received pulse to determine the size of theoperating theater and to adjust short range wireless, e.g., Bluetooth,pairing distance limits.

Stripping Out Data From Images and Connected Smart Instrument Data toAllow Conglomeration But Not Individualization

In one aspect, the present disclosure provides a data stripping methodwhich interrogates the electronic patient records provided, extracts therelevant portions to configure and operate the surgical hub andinstruments coupled to the surgical hub, while anonymizing the surgery,patient, and all identifying parameters to maintain patient privacy.

With reference now back to FIG. 63 and also to FIGS. 1-11 to showinteraction with an interactive surgical system 100 environmentincluding a surgical hub 106, 206, once the size of the operatingtheater has been verified and Bluetooth pairing is complete, based onartificial real time, the computer processor 244 of the surgical hub 206begins stripping 4038 data received from the modules coupled to thesurgical hub 206. In one example, the processor 244 begins stripping4083 images received from the imaging module 238 and connected smartinstruments 235, for example. Stripping 4038 the data allowsconglomeration of the data but not individualization of the data. Thisenables stripping 4038 the data identifier, linking the data, andmonitoring an event while maintaining patient privacy by anonymizing thedata.

With reference to FIGS. 1-64, in one aspect, a data stripping 4038method is provided. In accordance with the data stripping 4038 method,the surgical hub 206 processor 244 interrogates the patient recordsstored in the surgical hub database 238 and extracts the relevantportions of the patient records to configure and operate the surgicalhub 206 and its instruments 235, robots, and other modular devices,e.g., modules. The data stripping 4038 method anonymizes the surgicalprocedure, patient, and all identifying parameters associated with thesurgical procedure. Stripping 4038 the data on the fly ensures that atno time the data is correlated to a specific patient, surgicalprocedure, surgeon, time or other possible identifier that can be usedto correlate the data.

The data may be stripped 4038 for compilation of the base information ata remote cloud 204 database storage device 205 coupled to the remoteserver 213. The data stored in the database storage device 248 can beused in advanced cloud based analytics, as described in U.S. ProvisionalPatent Application Ser. No. 62/611,340, filed Dec. 28, 2017, titledCLOUD-BASED MEDICAL ANALYTICS, which is incorporated herein by referencein its entirety. A copy of the information with data links intact alsocan be stored into the patient EMR database 4002 (FIG. 62). For example,the surgical hub 206 may import patient tissue irregularities orco-morbidities to add to an existing data set stored in the database248. The data may be stripped 4038 before the surgery and/or may bestripped 4038 as the data is transmitted to the cloud 204 databasestorage device 205 coupled to the remote server 213.

With continued reference to FIGS. 1-11 and 62-64, FIG. 65 is a diagram4050 depicting the process of importing patient electronic medicalrecords 4012 containing surgical procedure and relevant patient data4018 stored in the EMR database 4002, stripping 4038 the relevantpatient data 4018 from the imported medical records 4012, andidentifying 4060 smart device implications 4062, or inferences,according to one aspect of the present disclosure. As shown in FIG. 65,the patient electronic medical records 4012, containing informationstored in the patient EMR database 4002, are retrieved from the EMRdatabase 4002, imported into the surgical hub 206, and stored in thesurgical hub 206 storage device 248. Un-redacted data is removed ordeleted 4019 from the patient electronic medical records 4012 beforethey are stored in the surgical hub 206 storage device 248 as ananonymous data file 4016 (FIG. 62). The relevant patient data 4018 isthen stripped 4038 from the medical records 4012 to remove the desiredrelevant patient data 4018 and delete 4019 un-redacted data to maintainpatient anonymity. In the illustrated example, the stripped data 4058includes emphysema, high blood pressure, small lung cancer,warfarin/blood thinner, and/or radiation pretreatment. The stripped data4058 is employed to identify 4060 smart device implications whilemaintaining patient anonymity as described hereinbelow.

Although the surgical procedure data and relevant patient data 4018 isdescribed as being imported from patient electronic medical records 4012stored in the EMR database 4002, in various aspects, the surgicalprocedure data and relevant patient data 4018 may be retrieved from amodular device coupled to the surgical hub 206 before being stored inthe EMR database 4002. For example, the surgical hub 206 may interrogatethe module to retrieve the surgical procedure data and relevant patientdata 4018 from the module. As described herein, a module includes animaging module 238 that is coupled to an endoscope 239, a generatormodule 240 that is coupled to an energy device 241, a smoke evacuatormodule 226, a suction/irrigation module 228, a communication module 230,a processor module 232, a storage array 234, a smart device/instrument235 optionally coupled to a display 237, and a non-contact sensor module242, among other modules as illustrated in FIGS. 3 and 8-10.

For example, the anonymized stripped data 4058 may be employed toidentify 4060 catastrophic failures of instruments, and other smartdevices, and may initiate an automatic archive process and submission ofdata for further implications analysis. For example, the implication ofdetecting a counterfeit component or adapter on an original equipmentmanufacturer (OEM) device would be to initiate documentation of thecomponent and recording of the results and outcome of its use. Forexample, the surgical hub 206 may execute situational awarenessalgorithms as described in connection FIG. 86. In one aspect, thesurgical hub 206 may initially receive or identify a variety ofimplications 4062 that are derived from anonymized stripped data 4058.The surgical hub 206 is configured to control the instruments 235, orother modules, so that they operate correspondingly to the derivedimplications 4062. In one example, the surgical hub 206 control logicidentifies that (i) lung tissue may be more fragile than normal (e.g.,due to emphysema), (ii) hemostasis issues are more likely (e.g., due tohigh blood pressure and/or the patient being on a blood thinner, such aswarfarin), (iii) cancer may be more aggressive (e.g., due to the targetof the procedure being a small cell lung cancer), and (iv) lung tissuemay be stiffer and more prone to fracture (e.g., due to the patienthaving received a radiation pretreatment). The control logic orprocessor 244 of the surgical hub 206 then interprets how this dataimpacts the instruments 235, or other modules, so that the instruments235 are operated consistently with the data and then communicates thecorresponding adjustments to each of the instruments 235.

In one example relating to a stapler type of surgical instrument 235,based on the implications 4062 identified 4060 from the anonymizedstripped data 4058, the control logic or processor 244 of the surgicalhub 206 may (i) notify the stapler to adjust the compression ratethreshold parameter, (ii) adjust the surgical hub 206 visualizationthreshold value to quantify the bleeding and internal parameters, (iii)notify the combo generator module 240 of the lung tissue and vesseltissue types so that the power and generator module 240 controlalgorithms are adjusted accordingly, (iv) notify the imaging module 238of the aggressive cancer tag to adjust the margin ranges accordingly,(v) notify the stapler of the margin parameter adjustment needed (themargin parameter corresponds to the distance or amount of tissue aroundthe cancer that will be excised), and (vi) notify the stapler that thetissue is potentially fragile. Furthermore, the anonymized stripped data4058, upon which the implications 40602 =based, is identified by thesurgical hub 206 and is fed into the situational awareness algorithm(see FIG. 86). Examples include, without limitations, thoracic lungresection, e.g., segmentectomy, among others.

FIG. 66 is a diagram 4070 illustrating the application of cloud basedanalytics to un-redacted data, stripped relevant patient data 4018, andindependent data pairs, according to one aspect of the presentdisclosure. As shown, multiple surgical hubs Hub #1 4072, Hub #3 4074,and Hub #4 4076 are located within the hospital data barrier 4006 (seealso FIG. 62). The un-redacted patient electronic medical record 4012including patient data and surgery related data may be used andexchanged between the surgical hubs: Hub #1 4072, Hub #3 4074, and Hub#4 4076 located within the hospital data barrier 4006. Prior totransmitting the un-redacted patient electronic medical record 4012containing patient data and surgery related data outside the hospitaldata barrier 4006, however, the patient electronic medical record 4012patient data is redacted and stripped to create an anonymous data file4016 containing anonymized information for further analysis andprocessing of the redacted/stripped data by a cloud based analyticprocesses in the cloud 204.

FIG. 67 is a logic flow diagram 4080 of a process depicting a controlprogram or a logic configuration for associating patient data sets fromfirst and second sources of data, according to one aspect of the presentdisclosure. With reference to FIG. 67 and with reference also to FIGS.1-11 to show interaction with an interactive surgical system 100environment including a surgical hub 106, 206, in one aspect, thepresent disclosure provides a surgical hub 206, comprising a processor244; and a memory 249 coupled to the processor 244. The memory 249stores instructions executable by the processor 244 to interrogate 4082a surgical instrument 235, retrieve 4084 a first data set from thesurgical instrument 235, interrogate 4086 a medical imaging device 238,retrieve 4088 a second data set from the medical imaging device 238,associate 4090 the first and second data sets by a key, and transmit theassociated first and second data sets to a remote network outside of thesurgical hub 206. The surgical instrument 235 is a first source ofpatient data and the first data set is associated with a surgicalprocedure. The medical imaging device 238 is a second source of patientdata and the second data set is associated with an outcome of thesurgical procedure. The first and second data records are uniquelyidentified by the key.

In another aspect, the surgical hub 206 provides a memory 249 storinginstructions executable by the processor 244 to retrieve the first dataset using the key, anonymize the first data set, retrieve the seconddata set using the key, anonymize the second data set, pair theanonymized first and second data sets, and determine success rate ofsurgical procedures grouped by the surgical procedure based on theanonymized paired first and second data sets.

In another aspect, the surgical hub 206 provides a memory 249 storinginstructions executable by the processor 244 to retrieve the anonymizedfirst data set, retrieve the anonymized second data set, and reintegratethe anonymized first and second data sets using the key.

FIG. 68 is a logic flow diagram of a process 4400 depicting a controlprogram or a logic configuration for stripping data to extract relevantportions of the data to configure and operate the surgical hub 206 andmodules (e.g., instruments 235) coupled to the surgical hub 206,according to one aspect of the present disclosure. With reference toFIG. 68 and with reference also to FIGS. 1-11 to show interaction withan interactive surgical system 100 environment including a surgical hub106, 206, in one aspect, the surgical hub 206 may be configured tointerrogate a module coupled to surgical hub 206 for data, and strip thedata to extract relevant portions of the data to configure and operatethe surgical hub 206 and modules (e.g., instruments 235) coupled to thesurgical hub 206 and anonymize the surgery, patient, and otherparameters that can be used to identify the patient to maintain patientprivacy. According to the process 4400, in one aspect the presentdisclosure provides a surgical hub 206 including a processor 244, amodular communication hub 203 coupled to the processor 244, where themodular communication hub 203 is configured to connect modular deviceslocated in one or more operating theaters to the surgical hub 206. Theprocessor 244 is coupled to a memory 249, where the memory 249 storesinstructions executable by the processor 244 to cause the processor tointerrogate 4402 a modular device coupled to the processor 244 via themodular communication hub 203. The modular device is a source of datasets that include patient identity data and surgical procedure data. Theprocessor 244 receives 4404 a data set from the modular device. Theprocessor 244 discards 4406 the patient identity data and any portion ofthe surgical procedure data that identifies the patient from the dataset. The processor 244 extracts 4408 anonymous data from the data setand creates 4410 an anonymized data set. The processor 244 configures4412 the operation of the surgical hub 206 or the modular device basedon the anonymized data set.

In another aspect, where the anonymized data set includes catastrophicfailure of a modular device, the memory 249 stores instructionsexecutable by the processor 244 to initiate automatic archiving andsubmission of data for implications analysis based on the catastrophicfailure of the modular device. In another aspect, the memory 249 storesinstructions executable by the processor 244 to detect counterfeitcomponent information from the anonymized data set. In another aspect,the memory 249 stores instructions executable by the processor 244 toderive implications of the modular device from the anonymized data setand the memory 249 stores instructions executable by the processor 244to configure the modular device to operate based on the derivedimplications or to configure the surgical hub based on the derivedimplications. In another aspect, the memory 249 stores instructionsexecutable by the processor 244 to conglomerate the anonymized data. Inanother aspect, the memory 249 stores instructions executable by theprocessor 244 to extract the anonymized data prior to storing thereceived data in a storage device coupled to the surgical hub. Inanother aspect, the memory 249 stores instructions executable by theprocessor to transmit the anonymized data to a remote network outside ofthe surgical hub, compile the anonymized data at the remote network, andstore a copy of the data set from the modular device in a patientelectronic medical records database.

Storage of Data Creation and Use of Self-Describing Data IncludingIdentification Features

In one aspect, the present disclosure provides self-describing datapackets generated at the issuing instrument and including identifiersfor all devices that handled the packet. The self description allows theprocessor to interpret the data in the self-describing packet withoutknowing the data type in advance prior to receipt of the self-describingpacket. The data applies to every data point or data string and includesthe type of data, the source of the self-describing packet, the deviceidentification that generated the packet, the units, the time ofgeneration of the packet, and an authentication that the data containedin the packet is unaltered. When the processor (in the device or thesurgical hub) receives an unexpected packet and verifies the source ofthe packet, the processor alters the collection techniques to be readyfor any subsequent packets from that source.

With reference also to FIGS. 1-11 to show interaction with aninteractive surgical system 100 environment including a surgical hub106, 206, during a surgical procedure being performed in a surgical hub206 environment, the size and quantity of data being generated bysurgical devices 235 coupled to the surgical hub 206 can become quitelarge. Also, data exchanged between the surgical devices 235 and/or thesurgical hub 206 can become quite large.

One solution provides a techniques for minimizing the size of the dataand handling the data within a surgical hub 206 by generating aself-describing packet. The self-describing packet is initiallyassembled by the instrument 235 that generated it. The packet is thenordered and encrypted b generating an encryption certificate which isunique for each data packet. The data is then communicated from theinstrument 235 via encrypted wired or wireless protocols and stored onthe surgical hub 206 for processing and transmission to the cloud 204analytics engine. Each self-describing data packet includes anidentifier to identify the specific instrument that generated it and thetime it was generated. A surgical hub 206 identifier is added to thepacket when the packet is received by the surgical hub 206.

In one aspect, the present disclosure provides a surgical hub 206comprising a processor 244 and a memory 249 coupled to the processor244. The memory 249 storing instructions executable by the processor 244to receive a first data packet from a first source, receive a seconddata packet from a second source, associate the first and second datapackets, and generate a third data packet comprising the first andsecond data payloads. The first data packet comprises a first preamble,a first data payload, a source of the first data payload, and a firstencryption certificate. The first preamble defines the first datapayload and the first encryption certificate verifies the authenticityof the first data packet. The second data packet comprises a secondpreamble, a second data payload, a source of the second data payload,and a second encryption certificate. The second preamble defines thesecond data payload and the second encryption certificate verifies theauthenticity of the second data packet.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to determine that a data payload is from a new source,verify the new source of the data payload, and alter a data collectionprocess at the surgical hub to receive subsequent data packets from thenew source.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to associate the first and second data packets based on akey. In another aspect, the memory 249 stores instructions executable bythe processor 244 to anonymize the data payload of the third datapacket. In another aspect, the memory 249 stores instructions executableby the processor 244 to receive an anonymized third data packet andreintegrate the anonymized third data packet into the first and seconddata packets using the key.

In various aspects, the present disclosure provides a control circuit toreceive and process data packets as described above. In various aspects,the present disclosure provides a non-transitory computer-readablemedium storing computer readable instructions, which when executed,causes a machine to receive and process data packets as described above.

In other aspects, the present disclosure a method of generating a datapacket comprising self-describing data. In one aspect, a surgicalinstrument includes a processor and a memory coupled to the processor, acontrol circuit, and/or a computer-readable medium configured togenerate a data packet comprising a preamble, a data payload, a sourceof the data payload, and an encryption certificate. The preamble definesthe data payload and the encryption certificate verifies theauthenticity of the data packet. In various aspects, the data packet maybe generated by any module coupled to the surgical hub. Self-describingdata packets minimize data size and data handing in the surgical hub.

In one aspect, the present disclosure provides a self-describing datapacket generated at an issuing device (e.g., instrument, tool, robot).The self-describing data packet comprises identifiers for all devicesthat handle the data packet along a communication path; a selfdescription to enable a processor to interpret that data contained inthe data packet without having been told in advance of receipt of thedata packet along a path; data for every data point or data string; andtype of data, source of data, device IDs that generated the data, unitsof the data, time of generation, and authentication that the data packetis unaltered. In another aspect, when a processor receives a data packetfrom an unexpected source and verifies the source of the data, theprocessor alters the data collection technique to prepare for anysubsequent data packets from the source.

In the creation and use of a data packet comprising self-describingdata, the surgical hub includes identification features. The hub andintelligent devices use self-describing data packets to minimize datasize and data handling In a surgical hub that generates large volumes ofdata, the self-describing data packets minimize data size and datahandling, thus saving time and enabling the operating theater to runmore efficiently.

FIG. 69 illustrates a self-describing data packet 4100 comprisingself-describing data, according to one aspect of the present disclosure.With reference also to FIGS. 1-11 to show interaction with aninteractive surgical system 100 environment including a surgical hub106, 206, in one aspect, self-describing data packets 4100 as shown inFIG. 69 are generated at an issuing instrument 235, or device or modulelocated in or in communication with the operating theater, and includeidentifiers for all devices 235 that handle the packet along acommunication path. The self description allows a processor 244 tointerpret the data payload of the packet 4100 without having advanceknowledge of the definition of the data payload prior to receiving theself-describing data packet 4100. The processor 244 can interpret thedata payload by parsing an incoming self-describing packet 4100 as it isreceived and identifying the data payload without being notified inadvance that the self-describing packet 4100 was received. The data isfor every data point or data string. The data payload includes type ofdata, source of data, device IDs that generated the data, data units,time when data was generated, and an authentication that theself-describing data packet 4100 is unaltered. Once the processor 244,which may be located either in the device or the surgical hub 206,receives an unexpected self-describing data packet 4100 and verifies thesource of the self-describing data packet 4100, the processor 244 altersthe data collection means to be ready for any subsequent self-describingdata packets 4100 from that source. In one example, the informationcontained in a self-describing packet 4100 may be recorded during thefirst firing 4172 in the lung tumor resection surgical proceduredescribed in connection with FIGS. 71-75.

The self-describing data packet 4100 includes not only the data but apreamble which defines what the data is and where the data came from aswell as an encryption certificate verifying the authenticity of eachdata packet 4100. As shown in FIG. 69, the data packet 4100 may comprisea self-describing data header 4102 (e.g., force-to-fire [FTF],force-to-close [FTC], energy amplitude, energy frequency, energy pulsewidth, speed of firing, and the like), a device ID 4104 (e.g., 002), ashaft ID 4106 (e.g., W30), a cartridge ID 4108 (e.g., ESN736), a uniquetime stamp 4110 (e.g., 09:35:15), a force-to-fire value 4112 (e.g., 85)when the self-describing data header 4102 includes FTF (force-to-fire),otherwise, this position in the data packet 4100 includes the value offorce-to-close, energy amplitude, energy frequency, energy pulse width,speed of firing, and the like. The data packet 4100, further includestissue thickness value 4114 (e.g., 1.1 mm), and an identificationcertificate of data value 4116 (e.g., 01101010001001) that is unique foreach data packet 4100. Once the self-describing data packet 4100 isreceived by another instrument 235, surgical hub 206, cloud 204, etc.,the receiver parses the elf-describing data header 4102 and based on itsvalue knows what data type is contained in the self-describing datapacket 4100. TABLE 1 below lists the value of the self-describing dataheader 4102 and the corresponding data value.

TABLE 1 Self-Describing Data Header (4102) Data Type FTF Force To Fire(N) FTC Force To Close (N) EA Energy Amplitude (J) EF Energy Frequency(Hz) EPW Energy Pulse Width (Sec) SOF Speed Of Firing (mm/sec)

Each self-describing data packet 4100 comprising self-describing data isinitially assembled by the instrument 235, device, or module thatgenerated the self-describing data packet 4100. Subsequently, theself-describing data packet 4100 comprising self-describing data isordered and encrypted to generate an encryption certificate. Theencryption certificate is unique for each self-describing data packet4100. That data is then communicated via encrypted wired or wirelessprotocols and stored on the surgical hub 206 for processing andtransmission to the cloud 204 analytics engine.

Each self-describing data packet 4100 comprising self-describing dataincludes a device ID 4104 to identify the specific instrument 235 thatgenerated the self-describing data packet 4100, a time stamp 4110 toindicate the time that the data packet 4100 was generated, and when theself-describing data packet 4100 is received by the surgical hub 206.The surgical hub 206 ID also may be added to the self-describing datapacket 4100.

Each of the self-describing data packets 4100 comprising self-describingdata may include a packet wrapper that defines the beginning of the datapacket 4100 and the end of the data packet 4100 including anyidentifiers necessary to forecast the number and order of the bits inthe self-describing data packet.

The surgical hub 206 also manages redundant data sets. As the device 235functions and interconnects with other surgical hubs 206, multiple setsof the same data may be created and stored on various devices 235.Accordingly, the surgical hub 206 manages multiple images of redundantdata as well as anonymization and security of data. The surgical hub 206also provides temporary visualization and communication, incidentmanagement, peer-to-peer processing or distributed processing, andstorage backup and protection of data.

FIG. 70 is a logic flow diagram 4120 of a process depicting a controlprogram or a logic configuration for using data packets comprisingself-describing data, according to one aspect of the present disclosure.With reference to FIGS. 1-69, in one aspect, the present disclosureprovides a surgical hub 206 comprising a processor 244 and a memory 249coupled to the processor 244. The memory 249 storing instructionsexecutable by the processor 244 to receive a first data packet from afirst source, receive a second data packet from a second source,associate the first and second data packets, and generate a third datapacket comprising the first and second data payloads. The first datapacket comprises a first preamble, a first data payload, a source of thefirst data payload, and a first encryption certificate. The firstpreamble defines the first data payload and the first encryptioncertificate verifies the authenticity of the first data packet. Thesecond data packet comprises a second preamble, a second data payload, asource of the second data payload, and a second encryption certificate.The second preamble defines the second data payload and the secondencryption certificate verifies the authenticity of the second datapacket.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to determine that a data payload is from a new source,verify the new source of the data payload, and alter a data collectionprocess at the surgical hub to receive subsequent data packets from thenew source.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to associate the first and second data packets based on akey. In another aspect, the memory 249 stores instructions executable bythe processor 244 to anonymize the data payload of the third datapacket. In another aspect, the memory 244 stores instructions executableby the processor 244 to receive an anonymized third data packet andreintegrate the anonymized third data packet into the first and seconddata packets using the key.

FIG. 71 is a logic flow diagram 4130 of a process depicting a controlprogram or a logic configuration for using data packets comprisingself-describing data, according to one aspect of the present disclosure.With reference to FIG. 71 and with reference also to FIGS. 1-11 to showinteraction with an interactive surgical system 100 environmentincluding a surgical hub 106, 206, in one aspect, the present disclosureprovides a surgical hub 206 comprising a processor 244 and a memory 249coupled to the processor 244. The memory 249 storing instructionsexecutable by the processor 244 to receive 4132 a first self-describingdata packet from a first data source, the first self-describing datapacket comprising a first preamble, a first data payload, a source ofthe first data payload, and a first encryption certificate. The firstpreamble defines the first data payload and the first encryptioncertificate verifies the authenticity of the first data packet. Thememory 249 storing instructions executable by the processor 244 to parse4134 the received first preamble and interpret 4136 the first datapayload based on the first preamble.

In various aspects, the memory 249 stores instructions executable by theprocessor 244 to receive a second self-describing data packet from asecond data source, the second self-describing data packet comprising asecond preamble, a second data payload, a source of the second datapayload, and a second encryption certificate. The second preambledefines the second data payload and the second encryption certificateverifies the authenticity of the second data packet. The memory 249storing instructions executable by the processor 244 to parse thereceived second preamble, interpret the second data payload based on thesecond preamble, associate the first and second self-describing datapackets, and generate a third self-describing data packet comprising thefirst and second data payloads. In one aspect, the memory storesinstructions executable by the processor to anonymize the data payloadof the third self-describing data packet.

In various aspects, the memory stores instructions executable by theprocessor to determine that a data payload was generated by a new datasource, verify the new data source of the data payload, and alter a datacollection process at the surgical hub to receive subsequent datapackets from the new data source. In one aspect, the memory storesinstructions executable by the processor to associate the first andsecond self-describing data packets based on a key. In another aspect,the memory stores instructions executable by the processor to receive ananonymized third self-describing data packet and reintegrate theanonymized third self-describing data packet into the first and secondself-describing data packets using the key.

Storage of the Data in a Manner of Paired Data Sets Which Can Be GroupedBy Surgery But Not Necessarily Keyed to Actual Surgical Dates AndSurgeons

In one aspect, the present disclosure provides a data pairing methodthat allows a surgical hub to interconnect a device measured parameterwith a surgical outcome. The data pair includes all the relevantsurgical data or patient qualifiers without any patient identifier data.The data pair is generated at two separate and distinct times. Thedisclosure further provides configuring and storing the data in such amanner as to be able to rebuild a chronological series of events ormerely a series of coupled but unconstrained data sets. The disclosurefurther provides storing data in an encrypted form and having predefinedbackup and mirroring to the cloud.

To determine the success or failure of a surgical procedure, data storedin a surgical instrument should be correlated with the outcome of thesurgical procedure while simultaneously anonymizing the data to protectthe privacy of the patient. One solution is to pair data associated witha surgical procedure, as recorded by the surgical instrument during thesurgical procedure, with data assessing the efficacy of the procedure.The data is paired without identifiers associated with surgery, patient,or time to preserve anonymity. The paired data is generated at twoseparate and distinct times.

In one aspect, the present disclosure provides a surgical hub configuredto communicate with a surgical instrument. The surgical hub comprises aprocessor and a memory coupled to the processor. The memory storinginstructions executable by the processor to receive a first data setassociated with a surgical procedure, receive a second data setassociated with the efficacy of the surgical procedure, anonymize thefirst and second data sets by removing information that identifies apatient, a surgery, or a scheduled time of the surgery, and store thefirst and second anonymized data sets to generate a data pair grouped bysurgery. The first data set is generated at a first time, the seconddata set is generated at a second time, and the second time is separateand distinct from the first time.

In another aspect, the memory stores instructions executable by theprocessor to reconstruct a series of chronological events based on thedata pair. In another aspect, the memory stores instructions executableby the processor to reconstruct a series of coupled but unconstraineddata sets based on the data pair. In another aspect, the memory storesinstructions executable by the processor to encrypt the data pair,define a backup format for the data pair, and mirror the data pair to acloud storage device.

In various aspects, the present disclosure provides a control circuit toreceive and process data sets as described above. In various aspects,the present disclosure provides a non-transitory computer-readablemedium storing computer readable instructions, which when executed,causes a machine to receive and process data sets as described above.

Storage of paired anonymous data enables the hospital or surgeon to usethe data pairs locally to link to specific surgeries or to store thedata pairs to analyze overall trends without extracting specific eventsin chronological manner.

In one aspect, the surgical hub provides user defined storage andconfiguration of data. Storage of the data may be made in a manner ofpaired data sets which can be grouped by surgery, but not necessarilykeyed to actual surgical dates and surgeons. This technique providesdata anonymity with regard to the patient and surgeon.

In one aspect, the present disclosure provides a data pairing method.The data pairing method comprises enabling a surgical hub tointerconnect a device measured parameter with an outcome, wherein a datapair includes all the relevant tissue or patient qualifiers without anyof the identifiers, wherein the data pair is generated at two distinctand separate times. In another aspect, the present disclosure provides adata configuration that includes whether the data is stored in such amanner as to enable rebuilding a chronological series of events ormerely a series of coupled but unconstrained data sets. In anotheraspect, the data may be stored in an encrypted form. The stored data maycomprise a predefined backup and mirroring to the cloud.

The data may be encrypted locally to the device. The data backup may beautomatic to an integrated load secondary storage device. The deviceand/or the surgical hub may be configured to maintain the time ofstorage of the data and compile and transmit the data to anotherlocation for storage, e.g., another surgical hub or a cloud storagedevice. The data may be grouped together and keyed for transmission tothe cloud analytics location. A cloud based analytics system isdescribed in commonly-owned U.S. Provisional Patent Application Ser. No.62/611,340, filed Dec. 28, 2017, titled CLOUD-BASED MEDICAL ANALYTICS,which is incorporated herein by reference in its entirety.

In another aspect, the hub provides user selectable options for storingthe data. In one technique, the hub enables the hospital or the surgeonto select if the data should be stored in such a manner that it could beused locally in a surgical hub to link to specific surgeries. In anothertechnique, the surgical hub enables the data to be stored as data pairsso that overall trends can be analyzed without specific events extractedin a chronological manner.

FIG. 72 is a diagram 4150 of a tumor 4152 embedded in the right superiorposterior lobe 4154 of the right lung 4156, according to one aspect ofthe present disclosure. To remove the tumor 4152, the surgeon cutsaround the tumor 4152 along the perimeter generally designated as amargin 4158. A fissure 4160 separates the upper lobe 4162 and the middlelobe 4164 of the right lung 4156. In order to cut out the tumor 4152about the margin 4158, the surgeon must cut the bronchial vessels 4166leading to and from the middle lobe 4164 and the upper lobe 4162 of theright lung 4156. The bronchial vessels 4166 must be sealed and cut usinga device such as a surgical stapler, electrosurgical instrument,ultrasonic instrument, a combo electrosurgical/ultrasonic instrument,and/or a combo stapler/electrosurgical device generally representedherein as the instrument/device 235 coupled to the surgical hub 206. Thedevice 235 is configured to record data as described above, which isformed as a data packet, encrypted, stored, and/or transmitted to aremote data storage device 105 and processed by the server 113 in thecloud 104. FIGS. 77 and 78 are diagrams that illustrate the right lung4156 and the bronchial tree 4250 embedded within the parenchyma tissueof the lung.

In one aspect, the data packet may be in the form of the self-describingdata 4100 described in connection with FIGS. 69-71. The self-describingdata packet 4100 will contain the information recorded by the device 235during the procedure. Such information may include, for example, aself-describing data header 4102 (e.g., force-to-fire [FTF],force-to-close [FTC], energy amplitude, energy frequency, energy pulsewidth, speed of firing, and the like) based on the particular variable.The device ID 4104 (e.g., 002) of the instrument/device 235 used in theprocedure including components of the instrument/device 235 such as theshaft ID 4106 (e.g., W30) and the cartridge ID 4108 (e.g., ESN736). Theself-describing packet 4100 also records a unique time stamp 4110 (e.g.,09:35:15) and procedural variables such as a force-to-fire value 4112(e.g., 85) when the self-describing data header 4102 includes FTF(force-to-fire), otherwise, this position in the data packet 4100includes the value of force-to-close (FTC), energy amplitude, energyfrequency, energy pulse width, speed of firing, and the like, as shownin TABLE 1, for example. The data packet 4100, further may includetissue thickness value 4114 (e.g., 1.1 mm), which in this example refersto the thickness of the bronchial vessel 4166 exposed in the fissure4160 that were sealed and cut. Finally, each self-describing packet 4100includes an identification certificate of data value 4116 (e.g.,01101010001001) that uniquely identifies each data packet 4100transmitted by the device/instrument 235 to the surgical hub 206,further transmitted from the surgical hub 206 to the cloud 204 andstored on the storage device 205 coupled to the server 213, and/orfurther transmitted to the robot hub 222 and stored.

The data transmitted by way of a self-describing data packet 4100 issampled by the instrument device 235 at a predetermined sample rate.Each sample is formed into a self-describing data packet 4100 which istransmitted to the surgical hub 206 and eventually is transmitted fromthe surgical hub 206 to the cloud 204. The samples may be stored locallyin the instrument device 235 prior to packetizing or may be transmittedon the fly. The predetermined sampling rate and transmission rate aredictated by communication traffic in the surgical hub 206 and may beadjusted dynamically to accommodate current bandwidth limitations.Accordingly, in one aspect, the instrument device 235 may record all thesamples taken during surgery and at the end of the procedure packetizeeach sample into a self-describing packet 4100 and transmit theself-describing packet 4100 to the surgical hub 206. In another aspect,the sampled data may be packetized as it is recorded and transmitted tothe surgical hub 206 on the fly.

FIG. 73 is a diagram 4170 of a lung tumor resection surgical procedureincluding four separate firings of a surgical stapler device 235 to sealand cut bronchial vessels 4166 exposed in the fissure 4160 leading toand from the upper and lower lobes 4162, 4164 of the right lung 4156shown in FIG. 72, according to one aspect of the present disclosure. Thesurgical stapler device 235 is identified by a Device ID “002”. The datafrom each firing of the surgical stapler device 235 is recorded andformed into a data packet 4100 comprising self-describing data as shownin FIG. 70. The self-describing data packet 4100 shown in FIG. 70 isrepresentative of the first firing of device “002” having a staplecartridge serial number of ESN736, for example. In the followingdescription, reference also is made to FIGS. 12-19 for descriptions ofvarious architectures of instruments/devices 235 that include aprocessor or a control circuit coupled to a memory for recording (e.g.,saving or storing) data collected during a surgical procedure.

The first firing 4172 is recorded at anonymous time 09:35:15. The firstfiring 4172 seals and severs a first bronchial vessel 4166 leading toand from the middle lobe 4164 and the upper lobe 4162 of the right lung4156 into a first portion 4166 a and a second portion 4166 b, where eachportion 4166 a, 4166 b is sealed by respective first and second staplelines 4180 a, 4180 b. Information associated with the first firing 4172,for example the information described in connection with FIG. 70, isrecorded in the surgical stapler device 235 memory and is used to builda first self-describing data packet 4100 described in connection withFIGS. 69-71. The first self-describing packet 4100 may be transmittedupon completion of the first firing 4172 or may be kept stored in thesurgical stapler device 235 memory until the surgical procedure iscompleted. Once transmitted by the surgical stapler device 235, thefirst self-describing data packet 4100 is received by the surgical hub206. The first self-describing data packet 4100 is anonymized bystripping and time stamping 4038 the data, as discussed, for example, inconnection with FIG. 63. After the lung resection surgical is completed,the integrity of the seals of the first and second staple lines 4182 a,4182 b will be evaluated as shown in FIG. 74, for example, and theresults of the evaluation will be paired with information associatedwith the first firing 4172.

The second firing 4174 seals and severs a second bronchial vessel of thebronchial vessels 4166 leading to and from the middle lobe 4164 and theupper lobe 4162 of the right lung 4156 into a first portion 4166 c and asecond portion 4166 d, where each portion 4166 c, 4166 d is sealed byfirst and second staple lines 4180 c, 4180 d. Information associatedwith the second firing 4174, for example the information described inconnection with FIGS. 69-71, is recorded in the surgical stapler device235 memory and is used to build a second self-describing data packet4100 described in connection with FIGS. 69-71. The secondself-describing data packet 4100 may be transmitted upon completion ofthe second firing 4174 or may be kept stored in the surgical staplerdevice 235 memory until the surgical procedure is completed. Oncetransmitted by the surgical stapler device 235, the secondself-describing data packet 4100 is received by the surgical hub 206.The second self-describing data packet 4100 is anonymized by strippingand time stamping 4038 the data as discussed, for example, in connectionwith FIG. 63. After the lung resection surgical is completed, theintegrity of the seals of the first and second staple lines 4182 c, 4182d will be evaluated as shown in FIG. 74, for example, and the results ofthe evaluation will be paired with information associated with thesecond firing 4174.

The third firing 4176 is recorded at anonymous time 09:42:12. The thirdfiring 4176 seals and severs an outer portion of the upper and middlelobes 4162, 4164 of the right lung 4156. First and second staple lines4182 a, 4182 b are used to seal the outer portion of the upper andmiddle lobes 4162, 4162. Information associated with the third firing4176, for example the information described in connection with FIGS.69-71, is recorded in the surgical stapler device 235 memory and is usedto build a third self-describing data packet 4100 described inconnection with FIGS. 69-71. The third self-describing packet 4100 maybe transmitted upon completion of the third firing 4176 or may be keptstored in the surgical stapler device 235 memory until the surgicalprocedure is completed. Once transmitted by the surgical stapler device235, the third self-describing data packet 4100 is received by thesurgical hub 206. The third self-describing data packet 4100 isanonymized by stripping and time stamping 4038 the data, as discussed,for example, in connection with FIG. 63. After the lung resectionsurgical is completed, the integrity of the seals of the first andsecond staple lines 4180 a, 4180 b will be evaluated as shown in FIG.74, for example, and the results of the evaluation will be paired withinformation associated with the third firing 4172.

The fourth firing 4178 seals and severs an inner portion of the upperand middle lobes 4162, 4162 of the right lung 4156. First and secondstaple lines 4182 c, 4182 d are used to seal the inner portions of theupper and middle lobes 4162, 4164. Information associated with thefourth firing 4178, for example the information described in connectionwith FIG. 70, is recorded in the surgical stapler device 235 memory andis used to build a fourth self-describing data packet 4100 described inconnection with FIGS. 69-71. The fourth self-describing packet 4100 maybe transmitted upon completion of the fourth firing 4178 or may be keptstored in the surgical stapler device 235 memory until the surgicalprocedure is completed. Once transmitted by the surgical stapler device235, the fourth self-describing data packet 4100 is received by thesurgical hub 206. The fourth self-describing data packet 4100 isanonymized by stripping and time stamping 4038 the data, as discussed,for example, in connection with FIG. 63. After the lung resectionsurgical is completed, the integrity of the seals of the first andsecond staple lines 4182 a, 4182 b will be evaluated as shown in FIG.74, for example, and the results of the evaluation will be paired withinformation associated with the fourth firing 4172.

FIG. 74 is a graphical illustration 4190 of a force-to-close (FTC)versus time curve 4192 and a force-to-fire (FTF) versus time curve 4194characterizing the first firing 4172 of device 002 shown in FIG. 73,according to one aspect of the present disclosure. The surgical staplerdevice 235 is identified as 002 with a 30 mm staple cartridge S/N ESN736with a PVS shaft S/N M3615N (Shaft ID W30). The surgical stapler device235 was used for the first firing 4172 to complete the lung resectionsurgical procedure shown in FIG. 73. As shown in FIG. 74, the peakforce-to-fire force of 85 N. is recorded at anonymous time 09:35:15.Algorithms in the surgical stapler device 235 determine a tissuethickness of about 1.1 mm. As described hereinbelow, the FTC versus timecurve 4192 and the FTF versus time curve 4194 characterizing the firstfiring 4172 of the surgical device 235 identified by ID 002 will bepaired with the outcome of the lung resection surgical procedure,transmitted to the surgical hub 206, anonymized, and either stored inthe surgical hub 206 or transmitted to the cloud 204 for aggregation,further processing, analysis, etc.

FIG. 75 is a diagram 4200 illustrating a staple line visualization laserDoppler to evaluate the integrity of staple line seals by monitoringbleeding of a vessel after a firing of a surgical stapler, according toone aspect of the present disclosure. A laser Doppler technique isdescribed in above under the heading “Advanced Imaging AcquisitionModule,” in U.S. Provisional Patent Application Ser. No. 62/611,341,filed Dec. 28, 2017, and titled INTERACTIVE SURGICAL PLATFORM, which ishereby incorporated by reference herein in its entirety. The laserDoppler provides an image 4202 suitable for inspecting seals along thestaple lines 4180 a, 4180 b, 4182 a and for visualizing bleeding 4206 ofany defective seals. Laser Doppler inspection of the first firing 4172of device 002 shows a defective seal at the first staple line 4180 a ofthe first portion 4166 a of the bronchial vessel sealed during the firstfiring 4172. The staple line 4180 a seal is bleeding 4206 out at avolume of 0.5 cc. The image 4202 is recorded at anonymous time 09:55:154204 and is paired with the force-to-close curve 4192 and force-to-firecurve 4194 shown in FIG. 74. The data pair set is grouped by surgery andis stored locally in the surgical hub 206 storage 248 and/or remotely tothe cloud 204 storage 205 for aggregation, processing, and analysis, forexample. For example, the cloud 204 analytics engine associates theinformation contained in the first self-describing packet 4100associated with the first firing 4172 and indicate that a defective sealwas produced at the staple line 4166 a. Over time, this information canbe aggregated, analyzed, and used to improve outcomes of the surgicalprocedure, such as, resection of a lung tumor, for example.

FIG. 76 illustrates two paired data sets 4210 grouped by surgery,according to one aspect of the present disclosure. The upper paired dataset 4212 is grouped by one surgery and a lower paired data set 4214grouped by another surgery. The upper paired data set 4212, for example,is grouped by the lung tumor resection surgery discussed in connectionwith FIGS. 73-76. Accordingly, the rest of the description of FIG. 76will reference information described in FIGS. 32-35 as well as FIGS.1-21 to show interaction with an interactive surgical system 100environment including a surgical hub 106, 206. The lower paired data set4214 is grouped by a liver tumor resection surgical procedure where thesurgeon treated parenchyma tissue. The upper paired data set isassociated with a failed staple line seal and the bottom paired data setis associated with a successful staple line seal. The upper and lowerpaired data sets 4212, 4214 are sampled by the instrument device 235 andeach sample formed into a self-describing data packet 4100 which istransmitted to the surgical hub 206 and eventually is transmitted fromthe surgical hub 206 to the cloud 204. The samples may be stored locallyin the instrument device 235 prior to packetizing or may be transmittedon the fly. Sampling rate and transmission rate are dictated bycommunication traffic in the surgical hub 206 and may be adjusteddynamically to accommodate current bandwidth limitations.

The upper paired data set 4212 includes a left data set 4216 recorded bythe instrument/device 235 during the first firing 4172 linked 4224 to aright data set 4218 recorded at the time the staple line seal 4180 a ofthe first bronchial vessel 4166 a was evaluated. The left data set 4216indicates a “Vessel” tissue type 4236 having a thickness 4238 of 1.1 mm.Also included in the left data set 4216 is the force-to-close curve 4192and force-to-fire curve 4194 versus time (anonymous real time) recordedduring the first firing 4172 of the lung tumor resection surgicalprocedure. The left data set 4216 shows that the force-to-fire peaked at85 Lbs. and recorded at anonymous real time 4240 t_(1a) (09:35:15). Theright data set 4218 depicts the staple line visualization curve 4228depicting leakage versus time. The right data set 4218 indicates that a“Vessel” tissue type 4244 having a thickness 4246 of 1.1 mm experienceda staple line 4180 a seal failure 4242. The staple line visualizationcurve 4228 depicts leakage volume (cc) versus time of the staple line4180 a seal. The staple line visualization curve 4228 shows that theleakage volume reached 0.5 cc, indicating a failed staple line 4180 aseal of the bronchial vessel 4166 a, recorded at anonymous time 4248(09:55:15).

The lower paired data set 4214 includes a left data set 4220 recorded bythe instrument/device 235 during a firing linked 4226 to a right dataset 4222 recorded at the time the staple line seal of the parenchymatissue was evaluated. The left data set 4220 indicates a “Parenchyma”tissue type 4236 having a thickness 4238 of 2.1 mm. Also included in theleft data set 4220 is the force-to-close curve 4230 and force-to-firecurve 4232 versus time (anonymous real time) recorded during the firstfiring of the liver tumor resection surgical procedure. The left dataset 4220 shows that the force-to-fire peaked at 100 Lbs. and recorded atanonymous real time 4240 t_(1b) (09:42:12). The right data set 4222depicts the staple line visualization curve 4228 depicting leakageversus time. The right data set 4234 indicates that a “Parenchyma”tissue type 4244 having a thickness 4246 of 2.2 mm experienced asuccessful staple line seal. The staple line visualization curve 4234depicts leakage volume (cc) versus time of the staple line seal. Thestaple line visualization curve 4234 shows that the leakage volume was0.0 cc, indicating a successful staple line seal of the parenchymatissue, recorded at anonymous time 4248 (10:02:12).

The paired date sets 4212, 4214 grouped by surgery are collected formany procedures and the data contained in the paired date sets 4212,4214 is recorded and stored in the cloud 204 storage 205 anonymously toprotect patient privacy, as described in connection with FIGS. 62-69. Inone aspect, the paired date sets 4212, 4214 data are transmitted fromthe instrument/device 235, or other modules coupled to the surgical hub206, to the surgical hub 206 and to the cloud 204 in the form of theself-describing packet 4100 as described in connection with FIGS. 71 and72 and surgical procedure examples described in connection with FIGS.72-76. The paired date sets 4212, 4214 data stored in the cloud 204storage 205 is analyzed in the cloud 204 to provide feedback to theinstrument/device 235, or other modules coupled to the surgical hub 206,notifying a surgical robot coupled to the robot hub 222, or the surgeon,that the conditions identified by the left data set ultimately lead toeither a successful or failed seal. As described in connection with FIG.76, the upper left data set 4216 led to a failed seal and the bottomleft data set 4220 led to a successful seal. This is advantageousbecause the information provided in a paired data set grouped by surgerycan be used to improve resection, transection, and creation ofanastomosis in a variety of tissue types. The information can be used toavoid pitfalls that may lead to a failed seal.

FIG. 77 is a diagram of the right lung 4156 and FIG. 78 is a diagram ofthe bronchial tree 4250 including the trachea 4252 and the bronchi 4254,4256 of the lungs. As shown in FIG. 77, the right lung 4156 is composedof three lobes divided into the upper lobe 4162, the middle lobe 4160,and the lower lobe 4165 separated by the oblique fissure 4167 andhorizontal fissure 4160. The left lung is composed of only two smallerlobes due to the position of heart. As shown in FIG. 78, inside eachlung, the right bronchus 4254 and the left bronchus 4256 divide intomany smaller airways called bronchioles 4258, greatly increasing surfacearea. Each bronchiole 4258 terminates with a cluster of air sacs calledalveoli 4260, where gas exchange with the bloodstream occurs.

FIG. 79 is a logic flow diagram 4300 of a process depicting a controlprogram or a logic configuration for storing paired anonymous data setsgrouped by surgery, according to one aspect of the present disclosure.With reference to FIGS. 1-79, in one aspect, the present disclosureprovides a surgical hub 206 configured to communicate with a surgicalinstrument 235. The surgical hub 206 comprises a processor 244 and amemory 249 coupled to the processor 244. The memory 249 storinginstructions executable by the processor 244 to receive 4302 a firstdata set from a first source, the first data set associated with asurgical procedure, receive 4304 a second data set from a second source,the second data set associated with the efficacy of the surgicalprocedure, anonymize 4306 the first and second data sets by removinginformation that identifies a patient, a surgery, or a scheduled time ofthe surgery, and store 4308 the first and second anonymized data sets togenerate a data pair grouped by surgery. The first data set is generatedat a first time, the second data set is generated at a second time, andthe second time is separate and distinct from the first time.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to reconstruct a series of chronological events based onthe data pair. In another aspect, the memory 249 stores instructionsexecutable by the processor 244 to reconstruct a series of coupled butunconstrained data sets based on the data pair. In another aspect, thememory 249 stores instructions executable by the processor 244 toencrypt the data pair, define a backup format for the data pair, andmirror the data pair to a cloud 204 storage device 205.

Determination of Data to Transmit to Cloud Based Medical Analytics

In one aspect, the present disclosure provides a communication hub andstorage device for storing parameters and status of a surgical devicewhat has the ability to determine when, how often, transmission rate,and type of data to be shared with a cloud based analytics system. Thedisclosure further provides techniques to determine where the analyticssystem communicates new operational parameters for the hub and surgicaldevices.

In a surgical hub environment, large amounts of data can be generatedrather quickly and may cause storage and communication bottlenecks inthe surgical hub network. One solution may include local determinationof when and what data is transmitted for to the cloud-based medicalanalytics system for further processing and manipulation of surgical hubdata. The timing and rate at which the surgical hub data is exported canbe determined based on available local data storage capacity. Userdefined inclusion or exclusion of specific users, patients, orprocedures enable data sets to be included for analysis or automaticallydeleted. The time of uploads or communications to the cloud-basedmedical analytics system may be determined based on detected surgicalhub network down time or available capacity.

With reference to FIGS. 1-79, in one aspect, the present disclosureprovides a surgical hub 206 comprising a storage device 248, a processor244 coupled to the storage device 248, and a memory 249 coupled to theprocessor 244. The memory 249 stores instructions executable by theprocessor 244 to receive data from a surgical instrument 235, determinea rate at which to transfer the data to a remote cloud-based medicalanalytics network 204 based on available storage capacity of the storagedevice 248, determine a frequency at which to transfer the data to theremote cloud-based medical analytics network 204 based on the availablestorage capacity of the storage device 248 or detected surgical hubnetwork 206 down time, and determine a type of data to transfer the datato a remote cloud-based medical analytics network 204 based on inclusionor exclusion of data associated with a users, patient, or surgicalprocedure.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to receive new operational parameters for the surgical hub206 or the surgical instrument 235.

In various aspects, the present disclosure provides a control circuit todetermine, rate, frequency and type of data to transfer the data to theremote cloud-based medical analytics network as described above. Invarious aspects, the present disclosure provides a non-transitorycomputer-readable medium storing computer readable instructions which,when executed, causes a machine to determine, rate, frequency and typeof data to transfer to the remote cloud-based medical analytics network.

In one aspect, the surgical hub 206 is configured to determine what datato transmit to the cloud based analytics system 204. For example, asurgical hub 206 modular device 235 that includes local processingcapabilities may determine the rate, frequency, and type of data to betransmitted to the cloud based analytics system 204 for analysis andprocessing.

In one aspect, the surgical hub 206 comprises a modular communicationhub 203 and storage device 248 for storing parameters and status of adevice 235 that has the ability to determine when and how often data canbe shared with a cloud based analytics system 204, the transmission rateand the type of data that can be shared with the cloud based analyticssystem 204. In another aspect, the cloud analytics system 204communicates new operational parameters for the surgical hub 206 andsurgical devices 235 coupled to the surgical hub 206. A cloud basedanalytics system 204 is described in commonly-owned U.S. ProvisionalPatent Application Ser. No. 62/611,340, filed Dec. 28, 2017, and titledCLOUD-BASED MEDICAL ANALYTICS, which is incorporated herein by referencein its entirety.

In one aspect, a device 235 coupled to a local surgical hub 206determines when and what data is transmitted to the cloud analyticssystem 204 for company analytic improvements. In one example, theavailable local data storage capacity remaining in the storage device248 controls the timing and rate at which the data is exported. Inanother example, user defined inclusion or exclusion of specific users,patients, or procedures allows data sets to be included for analysis orautomatically deleted. In yet another example, detected network downtime or available capacity determines the time of uploads orcommunications.

In another aspect, transmission of data for diagnosis of failure modesis keyed by specific incidents. For example, user defined failure of adevice, instrument, or tool within a procedure initiates archiving andtransmission of data recorded with respect to that instrument forfailure modes analysis. Further, when a failure event is identified, allthe data surrounding the event is archived and packaged for sending backfor predictive informatics (PI) analytics. Data that is part of a PIfailure is flagged for storage and maintenance until either the hospitalor the cloud based analytics system releases the hold on the data.

Catastrophic failures of instruments may initiate an automatic archiveand submission of data for implications analysis. Detection of acounterfeit component or adapter on an original equipment manufacturer(OEM) device initiates documentation of the component and recording ofthe results and outcome of its use.

FIG. 80 is a logic flow diagram 4320 of a process depicting a controlprogram or a logic configuration for determining rate, frequency, andtype of data to transfer to a remote cloud-based analytics network,according to one aspect of the present disclosure. With reference toFIGS. 1-80, in one aspect, the present disclosure provides a surgicalhub 206 comprising a storage device 248, a processor 244 coupled to thestorage device 248, and a memory 249 coupled to the processor 244. Thememory 249 stores instructions executable by the processor 244 toreceive 4322 data from a surgical instrument 235, determine 4324 a rateat which to transfer the data to a remote cloud-based medical analyticsnetwork 204 based on available storage capacity of the storage device248. Optionally, the memory 249 stores instructions executable by theprocessor 244 to determine 4326 a frequency at which to transfer thedata to the remote cloud-based medical analytics network 204 based onthe available storage capacity of the storage device 248. Optionally,the memory 249 stores instructions executable by the processor 244 todetect surgical hub network downtime and to determine 4326 a frequencyat which to transfer the data to the remote cloud-based medicalanalytics network 204 based on the detected surgical hub network 206down time. Optionally, the memory 249 stores instructions executable bythe processor 244 to determine 4328 a type of data to transfer the datato a remote cloud-based medical analytics network 204 based on inclusionor exclusion of data associated with a users, patient, or surgicalprocedure.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to receive new operational parameters for the surgical hub206 or the surgical instrument 235.

In one aspect, the present disclosure provides a surgical hub,comprising: a processor; and a memory coupled to the processor, thememory storing instructions executable by the processor to: interrogatea surgical instrument, wherein the surgical instrument is a first sourceof patient data; retrieve a first data set from the surgical instrument,wherein the first data set is associated with a patient and a surgicalprocedure; interrogate a medical imaging device, wherein the medicalimaging device is a second source of patient data; retrieve a seconddata set from the medical imaging device, wherein the second data set isassociated with the patient and an outcome of the surgical procedure;associate the first and second data sets by a key; and transmit theassociated first and second data sets to remote network outside of thesurgical hub. The present disclosure further provides, a surgical hubwherein the memory stores instructions executable by the processor to:retrieve the first data set using the key; anonymize the first data setby removing its association with the patient; retrieve the second dataset using the key; anonymize the second data set by removing itsassociation with the patient; pair the anonymized first and second datasets; and determine success rates of surgical procedures grouped by thesurgical procedure based on the anonymized paired first and second datasets. The present disclosure further provides a surgical hub, whereinthe memory stores instructions executable by the processor to: retrievethe anonymized first data set; retrieve the anonymized second data set;and reintegrate the anonymized first and second data sets using the key.The present disclosure further provides a surgical hub, wherein thefirst and second data sets define first and second data payloads inrespective first and second data packets. The present disclosure furtherprovides a control circuit to perform any one of the above recitedfunctions and/or a non-transitory computer readable medium storingcomputer readable instructions which, when executed, causes a machine toperform any one of the above recited functions.

In another aspect, the present disclosure provides a surgical hub,comprising: a processor; and a memory coupled to the processor, thememory storing instructions executable by the processor to: receive afirst data packet from a first source, the first data packet comprisinga first preamble, a first data payload, a source of the first datapayload, and a first encryption certificate, wherein the first preambledefines the first data payload and the first encryption certificateverifies the authenticity of the first data packet; receive a seconddata packet from a second source, the second data packet comprising asecond preamble, a second data payload, a source of the second datapayload, and a second encryption certificate, wherein the secondpreamble defines the second data payload and the second encryptioncertificate verifies the authenticity of the second data packet;associate the first and second data packets; and generate a third datapacket comprising the first and second data payloads. The presentdisclosure further provides a surgical hub, wherein the memory storesinstructions executable by the processor to: determine that a datapayload is from a new source; verify the new source of the data payload;and alter a data collection process at the surgical hub to receivesubsequent data packets from the new source. The present disclosurefurther provides a surgical, wherein the memory stores instructionsexecutable by the processor to associate the first and second datapackets based on a key. The present disclosure further provides asurgical hub, wherein the memory stores instructions executable by theprocessor to anonymize the data payload of the third data packet. Thepresent disclosure further provides a surgical hub, wherein the memorystores instructions executable by the processor to receive an anonymizedthird data packet and reintegrate the anonymized third data packet intothe first and second data packets using the key. The present disclosurefurther provides a control circuit to perform any one of the aboverecited functions and/or a non-transitory computer readable mediumstoring computer readable instructions which, when executed, causes amachine to perform any one of the above recited functions.

In another aspect, the present disclosure provides a surgical hubconfigured to communicate with a surgical instrument, the surgical hubcomprising: a processor; and a memory coupled to the processor, thememory storing instructions executable by the processor to: receive afirst data set associated with a surgical procedure, wherein the firstdata set is generated at a first time; receive a second data setassociated with the efficacy of the surgical procedure, wherein thesecond data set is generated at a second time, wherein the second timeis separate and distinct from the first time; anonymize the first andsecond data sets by removing information that identifies a patient, asurgery, or a scheduled time of the surgery; and store the first andsecond anonymized data sets to generate a data pair grouped by surgery.The present disclosure further provides a surgical hub, wherein thememory stores instructions executable by the processor to reconstruct aseries of chronological events based on the data pair. The presentdisclosure further provides a surgical hub, wherein the memory storesinstructions executable by the processor to reconstruct a series ofcoupled but unconstrained data sets based on the data pair. The presentdisclosure further provides a surgical hub, wherein the memory storesinstructions executable by the processor to: encrypt the data pair;define a backup format for the data pair; and mirror the data pair to acloud storage device. The present disclosure further provides a controlcircuit to perform any one of the above recited functions and/or anon-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to perform any oneof the above recited functions.

In another aspect, the present disclosure provides a surgical hubcomprising: a storage device; a processor coupled to the storage device;and a memory coupled to the processor, the memory storing instructionsexecutable by the processor to: receive data from a surgical instrument;determine a rate at which to transfer the data to a remote cloud-basedmedical analytics network based on available storage capacity of thestorage device; determine a frequency at which to transfer the data tothe remote cloud-based medical analytics network based on the availablestorage capacity of the storage device or detected surgical hub networkdown time; and determine a type of data to transfer the data to a remotecloud-based medical analytics network based on inclusion or exclusion ofdata associated with a users, patient, or surgical procedure. Thepresent disclosure further provides a surgical hub, wherein the memorystores instructions executable by the processor to receive newoperational parameters for the surgical hub or the surgical instrument.The present disclosure further provides a control circuit to perform anyone of the above recited functions and/or a non-transitory computerreadable medium storing computer readable instructions which, whenexecuted, causes a machine to perform any one of the above recitedfunctions.

In another aspect, the present disclosure provides a surgical hubcomprising: a control configured to: receive data from a surgicalinstrument; determine a rate at which to transfer the data to a remotecloud-based medical analytics network based on available storagecapacity of the storage device; determine a frequency at which totransfer the data to the remote cloud-based medical analytics networkbased on the available storage capacity of the storage device ordetected surgical hub network down time; and determine a type of data totransfer the data to a remote cloud-based medical analytics networkbased on inclusion or exclusion of data associated with a users,patient, or surgical procedure.

Surgical Hub Situational Awareness

Although an “intelligent” device including control algorithms thatrespond to sensed data can be an improvement over a “dumb” device thatoperates without accounting for sensed data, some sensed data can beincomplete or inconclusive when considered in isolation, i.e., withoutthe context of the type of surgical procedure being performed or thetype of tissue that is being operated on. Without knowing the proceduralcontext (e.g., knowing the type of tissue being operated on or the typeof procedure being performed), the control algorithm may control themodular device incorrectly or suboptimally given the particularcontext-free sensed data. For example, the optimal manner for a controlalgorithm to control a surgical instrument in response to a particularsensed parameter can vary according to the particular tissue type beingoperated on. This is due to the fact that different tissue types havedifferent properties (e.g., resistance to tearing) and thus responddifferently to actions taken by surgical instruments. Therefore, it maybe desirable for a surgical instrument to take different actions evenwhen the same measurement for a particular parameter is sensed. As onespecific example, the optimal manner in which to control a surgicalstapling and cutting instrument in response to the instrument sensing anunexpectedly high force to close its end effector will vary dependingupon whether the tissue type is susceptible or resistant to tearing. Fortissues that are susceptible to tearing, such as lung tissue, theinstrument's control algorithm would optimally ramp down the motor inresponse to an unexpectedly high force to close to avoid tearing thetissue. For tissues that are resistant to tearing, such as stomachtissue, the instrument's control algorithm would optimally ramp up themotor in response to an unexpectedly high force to close to ensure thatthe end effector is clamped properly on the tissue. Without knowingwhether lung or stomach tissue has been clamped, the control algorithmmay make a suboptimal decision.

One solution utilizes a surgical hub including a system that isconfigured to derive information about the surgical procedure beingperformed based on data received from various data sources and thencontrol the paired modular devices accordingly. In other words, thesurgical hub is configured to infer information about the surgicalprocedure from received data and then control the modular devices pairedto the surgical hub based upon the inferred context of the surgicalprocedure. FIG. 81 illustrates a diagram of a situationally awaresurgical system 5100, in accordance with at least one aspect of thepresent disclosure. In some exemplifications, the data sources 5126include, for example, the modular devices 5102 (which can includesensors configured to detect parameters associated with the patientand/or the modular device itself), databases 5122 (e.g., an EMR databasecontaining patient records), and patient monitoring devices 5124 (e.g.,a blood pressure (BP) monitor and an electrocardiography (EKG) monitor).The surgical hub 5104 can be configured to derive the contextualinformation pertaining to the surgical procedure from the data basedupon, for example, the particular combination(s) of received data or theparticular order in which the data is received from the data sources5126. The contextual information inferred from the received data caninclude, for example, the type of surgical procedure being performed,the particular step of the surgical procedure that the surgeon isperforming, the type of tissue being operated on, or the body cavitythat is the subject of the procedure. This ability by some aspects ofthe surgical hub 5104 to derive or infer information related to thesurgical procedure from received data can be referred to as “situationalawareness.” In one exemplification, the surgical hub 5104 canincorporate a situational awareness system, which is the hardware and/orprogramming associated with the surgical hub 5104 that derivescontextual information pertaining to the surgical procedure from thereceived data.

The situational awareness system of the surgical hub 5104 can beconfigured to derive the contextual information from the data receivedfrom the data sources 5126 in a variety of different ways. In oneexemplification, the situational awareness system includes a patternrecognition system, or machine learning system (e.g., an artificialneural network), that has been trained on training data to correlatevarious inputs (e.g., data from databases 5122, patient monitoringdevices 5124, and/or modular devices 5102) to corresponding contextualinformation regarding a surgical procedure. In other words, a machinelearning system can be trained to accurately derive contextualinformation regarding a surgical procedure from the provided inputs. Inanother exemplification, the situational awareness system can include alookup table storing pre-characterized contextual information regardinga surgical procedure in association with one or more inputs (or rangesof inputs) corresponding to the contextual information. In response to aquery with one or more inputs, the lookup table can return thecorresponding contextual information for the situational awarenesssystem for controlling the modular devices 5102. In one exemplification,the contextual information received by the situational awareness systemof the surgical hub 5104 is associated with a particular controladjustment or set of control adjustments for one or more modular devices5102. In another exemplification, the situational awareness systemincludes a further machine learning system, lookup table, or other suchsystem, which generates or retrieves one or more control adjustments forone or more modular devices 5102 when provided the contextualinformation as input.

A surgical hub 5104 incorporating a situational awareness systemprovides a number of benefits for the surgical system 5100. One benefitincludes improving the interpretation of sensed and collected data,which would in turn improve the processing accuracy and/or the usage ofthe data during the course of a surgical procedure. To return to aprevious example, a situationally aware surgical hub 5104 coulddetermine what type of tissue was being operated on; therefore, when anunexpectedly high force to close the surgical instrument's end effectoris detected, the situationally aware surgical hub 5104 could correctlyramp up or ramp down the motor of the surgical instrument for the typeof tissue.

As another example, the type of tissue being operated can affect theadjustments that are made to the compression rate and load thresholds ofa surgical stapling and cutting instrument for a particular tissue gapmeasurement. A situationally aware surgical hub 5104 could infer whethera surgical procedure being performed is a thoracic or an abdominalprocedure, allowing the surgical hub 5104 to determine whether thetissue clamped by an end effector of the surgical stapling and cuttinginstrument is lung (for a thoracic procedure) or stomach (for anabdominal procedure) tissue. The surgical hub 5104 could then adjust thecompression rate and load thresholds of the surgical stapling andcutting instrument appropriately for the type of tissue.

As yet another example, the type of body cavity being operated in duringan insufflation procedure can affect the function of a smoke evacuator.A situationally aware surgical hub 5104 could determine whether thesurgical site is under pressure (by determining that the surgicalprocedure is utilizing insufflation) and determine the procedure type.As a procedure type is generally performed in a specific body cavity,the surgical hub 5104 could then control the motor rate of the smokeevacuator appropriately for the body cavity being operated in. Thus, asituationally aware surgical hub 5104 could provide a consistent amountof smoke evacuation for both thoracic and abdominal procedures.

As yet another example, the type of procedure being performed can affectthe optimal energy level for an ultrasonic surgical instrument or radiofrequency (RF) electrosurgical instrument to operate at. Arthroscopicprocedures, for example, require higher energy levels because the endeffector of the ultrasonic surgical instrument or RF electrosurgicalinstrument is immersed in fluid. A situationally aware surgical hub 5104could determine whether the surgical procedure is an arthroscopicprocedure. The surgical hub 5104 could then adjust the RF power level orthe ultrasonic amplitude of the generator (i.e., “energy level”) tocompensate for the fluid filled environment. Relatedly, the type oftissue being operated on can affect the optimal energy level for anultrasonic surgical instrument or RF electrosurgical instrument tooperate at. A situationally aware surgical hub 5104 could determine whattype of surgical procedure is being performed and then customize theenergy level for the ultrasonic surgical instrument or RFelectrosurgical instrument, respectively, according to the expectedtissue profile for the surgical procedure. Furthermore, a situationallyaware surgical hub 5104 can be configured to adjust the energy level forthe ultrasonic surgical instrument or RF electrosurgical instrumentthroughout the course of a surgical procedure, rather than just on aprocedure-by-procedure basis. A situationally aware surgical hub 5104could determine what step of the surgical procedure is being performedor will subsequently be performed and then update the control algorithmsfor the generator and/or ultrasonic surgical instrument or RFelectrosurgical instrument to set the energy level at a valueappropriate for the expected tissue type according to the surgicalprocedure step.

As yet another example, data can be drawn from additional data sources5126 to improve the conclusions that the surgical hub 5104 draws fromone data source 5126. A situationally aware surgical hub 5104 couldaugment data that it receives from the modular devices 5102 withcontextual information that it has built up regarding the surgicalprocedure from other data sources 5126. For example, a situationallyaware surgical hub 5104 can be configured to determine whetherhemostasis has occurred (i.e., whether bleeding at a surgical site hasstopped) according to video or image data received from a medicalimaging device. However, in some cases the video or image data can beinconclusive. Therefore, in one exemplification, the surgical hub 5104can be further configured to compare a physiologic measurement (e.g.,blood pressure sensed by a BP monitor communicably connected to thesurgical hub 5104) with the visual or image data of hemostasis (e.g.,from a medical imaging device 124 (FIG. 2) communicably coupled to thesurgical hub 5104) to make a determination on the integrity of thestaple line or tissue weld. In other words, the situational awarenesssystem of the surgical hub 5104 can consider the physiologicalmeasurement data to provide additional context in analyzing thevisualization data. The additional context can be useful when thevisualization data may be inconclusive or incomplete on its own.

Another benefit includes proactively and automatically controlling thepaired modular devices 5102 according to the particular step of thesurgical procedure that is being performed to reduce the number of timesthat medical personnel are required to interact with or control thesurgical system 5100 during the course of a surgical procedure. Forexample, a situationally aware surgical hub 5104 could proactivelyactivate the generator to which an RF electrosurgical instrument isconnected if it determines that a subsequent step of the procedurerequires the use of the instrument. Proactively activating the energysource allows the instrument to be ready for use a soon as the precedingstep of the procedure is completed.

As another example, a situationally aware surgical hub 5104 coulddetermine whether the current or subsequent step of the surgicalprocedure requires a different view or degree of magnification on thedisplay according to the feature(s) at the surgical site that thesurgeon is expected to need to view. The surgical hub 5104 could thenproactively change the displayed view (supplied by, e.g., a medicalimaging device for the visualization system 108) accordingly so that thedisplay automatically adjusts throughout the surgical procedure.

As yet another example, a situationally aware surgical hub 5104 coulddetermine which step of the surgical procedure is being performed orwill subsequently be performed and whether particular data orcomparisons between data will be required for that step of the surgicalprocedure. The surgical hub 5104 can be configured to automatically callup data screens based upon the step of the surgical procedure beingperformed, without waiting for the surgeon to ask for the particularinformation.

Another benefit includes checking for errors during the setup of thesurgical procedure or during the course of the surgical procedure. Forexample, a situationally aware surgical hub 5104 could determine whetherthe operating theater is setup properly or optimally for the surgicalprocedure to be performed. The surgical hub 5104 can be configured todetermine the type of surgical procedure being performed, retrieve thecorresponding checklists, product location, or setup needs (e.g., from amemory), and then compare the current operating theater layout to thestandard layout for the type of surgical procedure that the surgical hub5104 determines is being performed. In one exemplification, the surgicalhub 5104 can be configured to compare the list of items for theprocedure (scanned by the scanner 5132 depicted in FIG. 85B, forexample) and/or a list of devices paired with the surgical hub 5104 to arecommended or anticipated manifest of items and/or devices for thegiven surgical procedure. If there are any discontinuities between thelists, the surgical hub 5104 can be configured to provide an alertindicating that a particular modular device 5102, patient monitoringdevice 5124, and/or other surgical item is missing. In oneexemplification, the surgical hub 5104 can be configured to determinethe relative distance or position of the modular devices 5102 andpatient monitoring devices 5124 via proximity sensors, for example. Thesurgical hub 5104 can compare the relative positions of the devices to arecommended or anticipated layout for the particular surgical procedure.If there are any discontinuities between the layouts, the surgical hub5104 can be configured to provide an alert indicating that the currentlayout for the surgical procedure deviates from the recommended layout.

As another example, a situationally aware surgical hub 5104 coulddetermine whether the surgeon (or other medical personnel) was making anerror or otherwise deviating from the expected course of action duringthe course of a surgical procedure. For example, the surgical hub 5104can be configured to determine the type of surgical procedure beingperformed, retrieve the corresponding list of steps or order ofequipment usage (e.g., from a memory), and then compare the steps beingperformed or the equipment being used during the course of the surgicalprocedure to the expected steps or equipment for the type of surgicalprocedure that the surgical hub 5104 determined is being performed. Inone exemplification, the surgical hub 5104 can be configured to providean alert indicating that an unexpected action is being performed or anunexpected device is being utilized at the particular step in thesurgical procedure.

Overall, the situational awareness system for the surgical hub 5104improves surgical procedure outcomes by adjusting the surgicalinstruments (and other modular devices 5102) for the particular contextof each surgical procedure (such as adjusting to different tissue types)and validating actions during a surgical procedure. The situationalawareness system also improves surgeons' efficiency in performingsurgical procedures by automatically suggesting next steps, providingdata, and adjusting displays and other modular devices 5102 in thesurgical theater according to the specific context of the procedure.

FIG. 82A illustrates a logic flow diagram of a process 5000 a forcontrolling a modular device 5102 according to contextual informationderived from received data, in accordance with at least one aspect ofthe present disclosure. In other words, a situationally aware surgicalhub 5104 can execute the process 5000 a to determine appropriate controladjustments for modular devices 5102 paired with the surgical hub 5104before, during, or after a surgical procedure as dictated by the contextof the surgical procedure. In the following description of the process5000 a, reference should also be made to FIG. 81. In oneexemplification, the process 5000 a can be executed by a control circuitof a surgical hub 5104, as depicted in FIG. 10 (processor 244). Inanother exemplification, the process 5000 a can be executed by a cloudcomputing system 104, as depicted in FIG. 1. In yet anotherexemplification, the process 5000 a can be executed by a distributedcomputing system including at least one of the aforementioned cloudcomputing system 104 and/or a control circuit of a surgical hub 5104 incombination with a control circuit of a modular device, such as themicrocontroller 461 of the surgical instrument depicted in FIG. 12, themicrocontroller 620 of the surgical instrument depicted in FIG. 16, thecontrol circuit 710 of the robotic surgical instrument 700 depicted inFIG. 17, the control circuit 760 of the surgical instruments 750, 790depicted in FIGS. 18 and 19, or the controller 838 of the generator 800depicted in FIG. 20. For economy, the following description of theprocess 5000 a will be described as being executed by the controlcircuit of a surgical hub 5104; however, it should be understood thatthe description of the process 5000 a encompasses all of theaforementioned exemplifications.

The control circuit of the surgical hub 5104 executing the process 5000a receives 5004 a data from one or more data sources 5126 to which thesurgical hub 5104 is communicably connected. The data sources 5126include, for example, databases 5122, patient monitoring devices 5124,and modular devices 5102. In one exemplification, the databases 5122 caninclude a patient EMR database associated with the medical facility atwhich the surgical procedure is being performed. The data received 5004a from the data sources 5126 can include perioperative data, whichincludes preoperative data, intraoperative data, and/or postoperativedata associated with the given surgical procedure. The data received5004 a from the databases 5122 can include the type of surgicalprocedure being performed or the patient's medical history (e.g.,medical conditions that may or may not be the subject of the presentsurgical procedure). In one exemplification depicted in FIG. 83A, thecontrol circuit can receive 5004 a the patient or surgical proceduredata by querying the patient EMR database with a unique identifierassociated with the patient. The surgical hub 5104 can receive theunique identifier from, for example, a scanner 5128 for scanning thepatient's wristband 5130 encoding the unique identifier associated withthe patient when the patient enters the operating theater, as depictedin FIG. 85A. In one exemplification, the patient monitoring devices 5124include BP monitors, EKG monitors, and other such devices that areconfigured to monitor one or more parameters associated with a patient.As with the modular devices 5102, the patient monitoring devices 5124can be paired with the surgical hub 5104 such that the surgical hub 5104receives 5004 a data therefrom. In one exemplification, the datareceived 5004 a from the modular devices 5102 that are paired with(i.e., communicably coupled to) the surgical hub 5104 includes, forexample, activation data (i.e., whether the device is powered on or inuse), data of the internal state of the modular device 5102 (e.g., forceto fire or force to close for a surgical cutting and stapling device,pressure differential for an insufflator or smoke evacuator, or energylevel for an RF or ultrasonic surgical instrument), or patient data(e.g., tissue type, tissue thickness, tissue mechanical properties,respiration rate, or airway volume).

As the process 5000 a continues, the control circuit of the surgical hub5104 can derive 5006 a contextual information from the data received5004 a from the data sources 5126. The contextual information caninclude, for example, the type of procedure being performed, theparticular step being performed in the surgical procedure, the patient'sstate (e.g., whether the patient is under anesthesia or whether thepatient is in the operating room), or the type of tissue being operatedon. The control circuit can derive 5006 a contextual informationaccording to data from ether an individual data source 5126 orcombinations of data sources 5126. Further, the control circuit canderive 5006 a contextual information according to, for example, thetype(s) of data that it receives, the order in which the data isreceived, or particular measurements or values associated with the data.For example, if the control circuit receives data from an RF generatorindicating that the RF generator has been activated, the control circuitcould thus infer that the RF electrosurgical instrument is now in useand that the surgeon is or will be performing a step of the surgicalprocedure utilizing the particular instrument. As another example, ifthe control circuit receives data indicating that a laparoscope imagingdevice has been activated and an ultrasonic generator is subsequentlyactivated, the control circuit can infer that the surgeon is on alaparoscopic dissection step of the surgical procedure due to the orderin which the events occurred. As yet another example, if the controlcircuit receives data from a ventilator indicating that the patient'srespiration is below a particular rate, then the control circuit candetermine that the patient is under anesthesia.

The control circuit can then determine 5008 a what control adjustmentsare necessary (if any) for one or more modular devices 5102 according tothe derived 5006 a contextual information. After determining 5008 a thecontrol adjustments, the control circuit of the surgical hub 5104 canthen control 5010 a the modular devices according to the controladjustments (if the control circuit determined 5008 a that any werenecessary). For example, if the control circuit determines that anarthroscopic procedure is being performed and that the next step in theprocedure utilizes an RF or ultrasonic surgical instrument in a liquidenvironment, the control circuit can determine 5008 a that a controladjustment for the generator of the RF or ultrasonic surgical instrumentis necessary to preemptively increase the energy output of theinstrument (because such instruments require increased energy in liquidenvironments to maintain their effectiveness). The control circuit canthen control 5010 a the generator and/or the RF or ultrasonic surgicalinstrument accordingly by causing the generator to increase its outputand/or causing the RF or ultrasonic surgical instrument to increase theenergy drawn from the generator. The control circuit can control 5010 athe modular devices 5102 according to the determined 5008 a controladjustment by, for example, transmitting the control adjustments to theparticular modular device to update the modular device's 5102programming. In another exemplification wherein the modular device(s)5102 and the surgical hub 5104 are executing a distributed computingarchitecture, the control circuit can control 5010 a the modular device5102 according to the determined 5008 a control adjustments by updatingthe distributed program.

FIGS. 82B-D illustrate representative implementations of the process5000 a depicted in FIG. 82A. As with the process 5000 a depicted in FIG.82A, the processes illustrated in FIGS. 82B-D can, in oneexemplification, be executed by a control circuit of the surgical hub5104. FIG. 82B illustrates a logic flow diagram of a process 5000 b forcontrolling a second modular device according to contextual informationderived from perioperative data received from a first modular device, inaccordance with at least one aspect of the present disclosure. In theillustrated exemplification, the control circuit of the surgical hub5104 receives 5004 b perioperative data from a first modular device. Theperioperative data can include, for example, data regarding the modulardevice 5102 itself (e.g., pressure differential, motor current, internalforces, or motor torque) or data regarding the patient with which themodular device 5102 is being utilized (e.g., tissue properties,respiration rate, airway volume, or laparoscopic image data). Afterreceiving 5004 b the perioperative data, the control circuit of thesurgical hub 5104 derives 5006 b contextual information from theperioperative data. The contextual information can include, for example,the procedure type, the step of the procedure being performed, or thestatus of the patient. The control circuit of the surgical hub 5104 thendetermines 5008 b control adjustments for a second modular device basedupon the derived 5006 b contextual information and then controls 5010 bthe second modular device accordingly. For example, the surgical hub5104 can receive 5004 b perioperative data from a ventilator indicatingthat the patient's lung has been deflated, derive 5006 b the contextualinformation therefrom that the subsequent step in the particularprocedure type utilizes a medical imaging device (e.g., a scope),determine 5008 b that the medical imaging device should be activated andset to a particular magnification, and then control 5010 b the medicalimaging device accordingly.

FIG. 82C illustrates a logic flow diagram of a process 5000 c forcontrolling a second modular device according to contextual informationderived from perioperative data received from a first modular device andthe second modular device. In the illustrated exemplification, thecontrol circuit of the surgical hub 5104 receives 5002 c perioperativedata from a first modular device and receives 5004 c perioperative datafrom a second modular device. After receiving 5002 c, 5004 c theperioperative data, the control circuit of the surgical hub 5104 derives5006 c contextual information from the perioperative data. The controlcircuit of the surgical hub 5104 then determines 5008 c controladjustments for the second modular device based upon the derived 5006 ccontextual information and then controls 5010 c the second modulardevice accordingly. For example, the surgical hub 5104 can receive 5002c perioperative data from a RF electrosurgical instrument indicatingthat the instrument has been fired, receive 5004 c perioperative datafrom a surgical stapling instrument indicating that the instrument hasbeen fired, derive 5006 c the contextual information therefrom that thesubsequent step in the particular procedure type requires that thesurgical stapling instrument be fired with a particular force (becausethe optimal force to fire can vary according to the tissue type beingoperated on), determine 5008 c the particular force thresholds thatshould be applied to the surgical stapling instrument, and then control5010 c the surgical stapling instrument accordingly.

FIG. 82D illustrates a logic flow diagram of a process 5000 d forcontrolling a third modular device according to contextual informationderived from perioperative data received from a first modular device anda second modular device. In the illustrated exemplification, the controlcircuit of the surgical hub 5104 receives 5002 d perioperative data froma first modular device and receives 5004 d perioperative data from asecond modular device. After receiving 5002 d, 5004 d the perioperativedata, the control circuit of the surgical hub 5104 derives 5006 dcontextual information from the perioperative data. The control circuitof the surgical hub 5104 then determines 5008 d control adjustments fora third modular device based upon the derived 5006 d contextualinformation and then controls 5010 d the third modular deviceaccordingly. For example, the surgical hub 5104 can receive 5002 d, 5004d perioperative data from an insufflator and a medical imaging deviceindicating that both devices have been activated and paired to thesurgical hub 5104, derive 5006 d the contextual information therefromthat a video-assisted thoracoscopic surgery (VATS) procedure is beingperformed, determine 5008 d that the displays connected to the surgicalhub 5104 should be set to display particular views or informationassociated with the procedure type, and then control 5010 d the displaysaccordingly.

FIG. 83A illustrates a diagram of a surgical system 5100 including asurgical hub 5104 communicably coupled to a particular set of datasources 5126. A surgical hub 5104 including a situational awarenesssystem can utilize the data received from the data sources 5126 toderive contextual information regarding the surgical procedure that thesurgical hub 5104, the modular devices 5102 paired to the surgical hub5104, and the patient monitoring devices 5124 paired to the surgical hub5104 are being utilized in connection with. The inferences (i.e.,contextual information) that one exemplification of the situationalawareness system can derive from the particular set of data sources 5126are depicted in dashed boxes extending from the data source(s) 5126 fromwhich they are derived. The contextual information derived from the datasources 5126 can include, for example, what step of the surgicalprocedure is being performed, whether and how a particular modulardevice 5102 is being used, and the patient's condition.

In the example illustrated in FIG. 83A, the data sources 5126 include adatabase 5122, a variety of modular devices 5102, and a variety ofpatient monitoring devices 5124. The surgical hub 5104 can be connectedto various databases 5122 to retrieve therefrom data regarding thesurgical procedure that is being performed or is to be performed. In oneexemplification of the surgical system 5100, the databases 5122 includean EMR database of a hospital. The data that can be received by thesituational awareness system of the surgical hub 5104 from the databases5122 can include, for example, start (or setup) time or operationalinformation regarding the procedure (e.g., a segmentectomy in the upperright portion of the thoracic cavity). The surgical hub 5104 can derivecontextual information regarding the surgical procedure from this dataalone or from the combination of this data and data from other datasources 5126.

The surgical hub 5104 can also be connected to (i.e., paired with) avariety of patient monitoring devices 5124. In one exemplification ofthe surgical system 5100, the patient monitoring devices 5124 that canbe paired with the surgical hub 5104 can include a pulse oximeter (SpO₂monitor) 5114, a BP monitor 5116, and an EKG monitor 5120. Theperioperative data that can be received by the situational awarenesssystem of the surgical hub 5104 from the patient monitoring devices 5124can include, for example, the patient's oxygen saturation, bloodpressure, heart rate, and other physiological parameters. The contextualinformation that can be derived by the surgical hub 5104 from theperioperative data transmitted by the patient monitoring devices 5124can include, for example, whether the patient is located in theoperating theater or under anesthesia. The surgical hub 5104 can derivethese inferences from data from the patient monitoring devices 5124alone or in combination with data from other data sources 5126 (e.g.,the ventilator 5118).

The surgical hub 5104 can also be connected to (i.e., paired with) avariety of modular devices 5102. In one exemplification of the surgicalsystem 5100, the modular devices 5102 that can be paired with thesurgical hub 5104 can include a smoke evacuator 5106, a medical imagingdevice 5108, an insufflator 5110, a combined energy generator 5112 (forpowering an ultrasonic surgical instrument and/or an RF electrosurgicalinstrument), and a ventilator 5118.

The medical imaging device 5108 includes an optical component and animage sensor that generates image data. The optical component includes alens or a light source, for example. The image sensor includes acharge-coupled device (CCD) or a complementary metal-oxide-semiconductor(CMOS), for example. In various exemplifications, the medical imagingdevice 5108 includes an endoscope, a laparoscope, a thoracoscope, andother such imaging devices. Various additional components of the medicalimaging device 5108 are described above. The perioperative data that canbe received by the surgical hub 5104 from the medical imaging device5108 can include, for example, whether the medical imaging device 5108is activated and a video or image feed. The contextual information thatcan be derived by the surgical hub 5104 from the perioperative datatransmitted by the medical imaging device 5108 can include, for example,whether the procedure is a VATS procedure (based on whether the medicalimaging device 5108 is activated or paired to the surgical hub 5104 atthe beginning or during the course of the procedure). Furthermore, theimage or video data from the medical imaging device 5108 (or the datastream representing the video for a digital medical imaging device 5108)can processed by a pattern recognition system or a machine learningsystem to recognize features (e.g., organs or tissue types) in the fieldof view (FOV) of the medical imaging device 5108, for example. Thecontextual information that can be derived by the surgical hub 5104 fromthe recognized features can include, for example, what type of surgicalprocedure (or step thereof) is being performed, what organ is beingoperated on, or what body cavity is being operated in.

In one exemplification depicted in FIG. 83B, the smoke evacuator 5106includes a first pressure sensor P₁ configured to detect the ambientpressure in the operating theater, a second pressure sensor P₂configured to detect the internal downstream pressure (i.e., thepressure downstream from the inlet), and a third pressure sensor P₃configured to detect the internal upstream pressure. In oneexemplification, the first pressure sensor P₁ can be a separatecomponent from the smoke evacuator 5106 or otherwise located externallyto the smoke evacuator 5106. The perioperative data that can be receivedby the surgical hub 5104 from the smoke evacuator 5106 can include, forexample, whether the smoke evacuator 5106 is activated, pressurereadings from each of the sensors P₁, P₂, P₃, and pressure differentialsbetween pairs of the sensors P₁, P₂, P₃. The perioperative data can alsoinclude, for example, the type of tissue being operated on (based uponthe chemical composition of the smoke being evacuated) and the amount oftissue being cut. The contextual information that can be derived by thesurgical hub 5104 from the perioperative data transmitted by the smokeevacuator 5106 can include, for example, whether the procedure beingperformed is utilizing insufflation. The smoke evacuator 5106perioperative data can indicate whether the procedure is utilizinginsufflation according to the pressure differential between P₃ and P₁.If the pressure sensed by P₃ is greater than the pressure sensed by P₁(i.e., P₃−P₁>0), then the body cavity to which the smoke evacuator 5106is connected is insufflated. If the pressure sensed by P₃ is equal tothe pressure sensed by P₁ (i.e., P₃−P₁=0), then the body cavity is notinsufflated. When the body cavity is not insufflated, the procedure maybe an open type of procedure.

The insufflator 5110 can include, for example, pressure sensors andcurrent sensors configured to detect internal parameters of theinsufflator 5110. The perioperative data that can be received by thesurgical hub 5104 from the insufflator can include, for example, whetherthe insufflator 5110 is activated and the electrical current drawn bythe insufflator's 5110 pump. The surgical hub 5104 can determine whetherthe insufflator 5110 is activated by, for example, directly detectingwhether the device is powered on, detecting whether there is a pressuredifferential between an ambient pressure sensor and a pressure sensorinternal to the surgical site, or detecting whether the pressure valvesof the insufflator 5110 are pressurized (activated) or non-pressurized(deactivated). The contextual information that can be derived by thesurgical hub 5104 from the perioperative data transmitted by theinsufflator 5110 can include, for example, the type of procedure beingperformed (e.g., insufflation is utilized in laparoscopic procedures,but not arthroscopic procedures) and what body cavity is being operatedin (e.g., insufflation is utilized in the abdominal cavity, but not inthe thoracic cavity). In some exemplifications, the inferences derivedfrom the perioperative data received from different modular devices 5102can be utilized to confirm and/or increase the confidence of priorinferences. For example, if the surgical hub 5104 determines that theprocedure is utilizing insufflation because the insufflator 5110 isactivated, the surgical hub 5104 can then confirm that inference bydetecting whether the perioperative data from the smoke evacuator 5106likewise indicates that the body cavity is insufflated.

The combined energy generator 5112 supplies energy to one or moreultrasonic surgical instruments or RF electrosurgical instrumentsconnected thereto. The perioperative data that can be received by thesurgical hub 5104 from the combined energy generator 5112 can include,for example, the mode that the combined energy generator 5112 is set to(e.g., a vessel sealing mode or a cutting/coagulation mode). Thecontextual information that can be derived by the surgical hub 5104 fromthe perioperative data transmitted by the combined energy generator 5112can include, for example, the surgical procedural type (based on thenumber and types of surgical instruments that are connected to theenergy generator 5112) and the procedural step that is being performed(because the particular surgical instrument being utilized or theparticular order in which the surgical instruments are utilizedcorresponds to different steps of the surgical procedure). Further, theinferences derived by the surgical hub 5104 can depend upon inferencesand/or perioperative data previously received by the surgical hub 5104.Once the surgical hub 5104 has determined the general category orspecific type of surgical procedure being performed, the surgical hub5104 can determine or retrieve an expected sequence of steps for thesurgical procedure and then track the surgeon's progression through thesurgical procedure by comparing the detected sequence in which thesurgical instruments are utilized relative to the expected sequence.

The perioperative data that can be received by the surgical hub 5104from the ventilator 5118 can include, for example, the respiration rateand airway volume of the patient. The contextual information that can bederived by the surgical hub 5104 from the perioperative data transmittedby the ventilator 5118 can include, for example, whether the patient isunder anesthesia and whether the patient's lung is deflated. In someexemplifications, certain contextual information can be inferred by thesurgical hub 5104 based on combinations of perioperative data frommultiple data sources 5126. For example, the situational awarenesssystem of the surgical hub 5104 can be configured to infer that thepatient is under anesthesia when the respiration rate detected by theventilator 5118, the blood pressure detected by the BP monitor 5116, andthe heart rate detected by the EKG monitor 5120 fall below particularthresholds. For certain contextual information, the surgical hub 5104can be configured to only derive a particular inference when theperioperative data from a certain number or all of the relevant datasources 5126 satisfy the conditions for the inference.

As can be seen from the particular exemplified surgical system 5100, thesituational awareness system of a surgical hub 5104 can derive a varietyof contextual information regarding the surgical procedure beingperformed from the data sources 5126. The surgical hub 5104 can utilizethe derived contextual information to control the modular devices 5102and make further inferences about the surgical procedure in combinationwith data from other data sources 5126. It should be noted that theinferences depicted in FIG. 83A and described in connection with thedepicted surgical system 5100 are merely exemplary and should not beinterpreted as limiting in any way. Furthermore, the surgical hub 5104can be configured to derive a variety of other inferences from the same(or different) modular devices 5102 and/or patient monitoring devices5124. In other exemplifications, a variety of other modular devices 5102and/or patient monitoring devices 5124 can be paired to the surgical hub5104 in the operating theater and data received from those additionalmodular devices 5102 and/or patient monitoring devices 5124 can beutilized by the surgical hub 5104 to derive the same or differentcontextual information about the particular surgical procedure beingperformed.

FIGS. 84A-J depict logic flow diagrams for processes for deriving 5008a, 5008 b, 5008 c, 5008 d contextual information from various modulardevices, as discussed above with respect to the processes 5000 a, 5000b, 5000 c, 5000 d depicted in FIGS. 82A-D. The derived contextualinformation in FIGS. 84A-C is the procedure type. The procedure type cancorrespond to techniques utilized during the surgical procedure (e.g., asegmentectomy), the category of the surgical procedure (e.g., alaparoscopic procedure), the organ, tissue, or other structure beingoperated on, and other characteristics to identify the particularsurgical procedure (e.g., the procedure utilizes insufflation). Thederived contextual information in FIGS. 84D-G is the particular step ofthe surgical procedure that is being performed. The derived contextualinformation in FIGS. 84H-J is the patient's status. It can be noted thatthe patient's status can also correspond to the particular step of thesurgical procedure that is being performed (e.g., determining that thepatient's status has changed from not being under anesthesia to beingunder anesthesia can indicate that the step of the surgical procedure ofplacing the patient under anesthesia was carried out by the surgicalstaff). As with the process 5000 a depicted in FIG. 82A, the processesillustrated in FIGS. 84A-J can, in one exemplification, be executed by acontrol circuit of the surgical hub 5104. In the following descriptionsof the processes illustrated in FIGS. 84A-J, reference should also bemade to FIG. 83A.

FIG. 84A illustrates a logic flow diagram of a process 5111 fordetermining a procedure type according to smoke evacuator 5106perioperative data. In this exemplification, the control circuit of thesurgical hub 5104 executing the process 5111 receives 5113 perioperativedata from the smoke evacuator 5106 and then determines 5115 whether thesmoke evacuator 5106 is activated based thereon. If the smoke evacuator5106 is not activated, then the process 5111 continues along the NObranch and the control circuit of the surgical hub 5104 continuesmonitoring for the receipt of smoke evacuator 5106 perioperative data.If the smoke evacuator 5106 is activated, then the process 5111continues along the YES branch and the control circuit of the surgicalhub 5104 determines 5117 whether there is a pressure differentialbetween an internal upstream pressure sensor P₃ (FIG. 83B) and anexternal or ambient pressure sensor P₁ (FIG. 83B). If there is apressure differential (i.e., the internal upstream pressure of the smokeevacuator 5106 is greater then the ambient pressure of the operatingtheater), then the process 5111 continues along the YES branch and thecontrol circuit determines 5119 that the surgical procedure is aninsufflation-utilizing procedure. If there is not a pressuredifferential, then the process 5111 continues along the NO branch andthe control circuit determines 5121 that the surgical procedure is notan insufflation-utilizing procedure.

FIG. 84B illustrates a logic flow diagram of a process 5123 fordetermining a procedure type according to smoke evacuator 5106,insufflator 5110, and medical imaging device 5108 perioperative data. Inthis exemplification, the control circuit of the surgical hub 5104executing the process 5123 receives 5125, 5127, 5129 perioperative datafrom the smoke evacuator 5106, insufflator 5110, and medical imagingdevice 5108 and then determines 5131 whether all of the devices areactivated or paired with the surgical hub 5104. If all of these devicesare not activated or paired with the surgical hub 5104, then the process5123 continues along the NO branch and the control circuit determines5133 that the surgical procedure is not a VATS procedure. If all of theaforementioned devices are activated or paired with the surgical hub5104, then the process 5123 continues along the YES branch and thecontrol circuit determines 5135 that the surgical procedure is a VATSprocedure. The control circuit can make this determination based uponthe fact that al of these devices are required for a VATS procedure;therefore, if not all of these devices are being utilized in thesurgical procedure, it cannot be a VATS procedure.

FIG. 84C illustrates a logic flow diagram of a process 5137 fordetermining a procedure type according to medical imaging device 5108perioperative data. In this exemplification, the control circuit of thesurgical hub 5104 executing the process 5137 receives 5139 perioperativedata from the medical imaging device 5108 and then determines 5141whether the medical imaging device 5108 is transmitting an image orvideo feed. If the medical imaging device 5108 is not transmitting animage or video feed, then the process 5137 continues along the NO branchand the control circuit determines 5143 that the surgical procedure isnot a VATS procedure. If the medical imaging device 5108 is nottransmitting an image or video feed, then the process 5137 continuesalong the YES branch and the control circuit determines 5145 that thesurgical procedure is a VATS procedure. In one exemplification, thecontrol circuit of the surgical hub 5104 can execute the process 5137depicted in FIG. 84C in combination with the process 5123 depicted inFIG. 84B in order to confirm or increase the confidence in thecontextual information derived by both processes 5123, 5137. If there isa discontinuity between the determinations of the processes 5123, 5137(e.g., the medical imaging device 5108 is transmitting a feed, but notall of the requisite devices are paired with the surgical hub 5104),then the surgical hub 5104 can execute additional processes to come to afinal determination that resolves the discontinuities between theprocesses 5123, 5137 or display an alert or feedback to the surgicalstaff as to the discontinuity.

FIG. 84D illustrates a logic flow diagram of a process 5147 fordetermining a procedural step according to insufflator 5110perioperative data. In this exemplification, the control circuit of thesurgical hub 5104 executing the process 5147 receives 5149 perioperativedata from the insufflator 5110 and then determines 5151 whether there isa pressure differential between the surgical site and the ambientenvironment of the operating theater. In one exemplification, theinsufflator 5110 perioperative data can include a surgical site pressure(e.g., the intra-abdominal pressure) sensed by a first pressure sensorassociated with the insufflator 5110, which can be compared against apressure sensed by a second pressure sensor configured to detect theambient pressure. The first pressure sensor can be configured to detectan intra-abdominal pressure between 0-10 mmHg, for example. If there isa pressure differential, then the process 5147 continues along the YESbranch and the control circuit determines 5153 that aninsufflation-utilizing step of the surgical procedure is beingperformed. If there is not a pressure differential, then the process5147 continues along the NO branch and the control circuit determines5155 that an insufflation-utilizing step of the surgical procedure isnot being performed.

FIG. 84E illustrates a logic flow diagram of a process 5157 fordetermining a procedural step according to energy generator 5112perioperative data. In this exemplification, the control circuit of thesurgical hub 5104 executing the process 5157 receives 5159 perioperativedata from the energy generator 5112 and then determines 5161 whether theenergy generator 5112 is in the sealing mode. In variousexemplifications, the energy generator 5112 can include two modes: asealing mode corresponding to a first energy level and a cut/coagulationmode corresponding to a second energy level. If the energy generator5112 is not in the sealing mode, then the process 5157 proceeds alongthe NO branch and the control circuit determines 5163 that a dissectionstep of the surgical procedure is being performed. The control circuitcan make this determination 5163 because if the energy generator 5112 isnot on the sealing mode, then it must thus be on the cut/coagulationmode for energy generators 5112 having two modes of operation. Thecut/coagulation mode of the energy generator 5112 corresponds to adissection procedural step because it provides an appropriate degree ofenergy to the ultrasonic surgical instrument or RF electrosurgicalinstrument to dissect tissue. If the energy generator 5112 is in thesealing mode, then the process 5157 proceeds along the YES branch andthe control circuit determines 5165 that a ligation step of the surgicalprocedure is being performed. The sealing mode of the energy generator5112 corresponds to a ligation procedural step because it provides anappropriate degree of energy to the ultrasonic surgical instrument or RFelectrosurgical instrument to ligate vessels.

FIG. 84F illustrates a logic flow diagram of a process 5167 fordetermining a procedural step according to energy generator 5112perioperative data. In various aspects, previously receivedperioperative data and/or previously derived contextual information canalso be considered by processes in deriving subsequent contextualinformation. This allows the situational awareness system of thesurgical hub 5104 to derive additional and/or increasingly detailedcontextual information about the surgical procedure as the procedure isperformed. In this exemplification, the process 5167 determines 5169that a segmentectomy procedure is being performed. This contextualinformation can be derived by this process 5167 or other processes basedupon other received perioperative data and/or retrieved from a memory.Subsequently, the control circuit receives 5171 perioperative data fromthe energy generator 5112 indicating that a surgical instrument is beingfired and then determines 5173 whether the energy generator 5112 wasutilized in a previous step of the procedure to fire the surgicalinstrument. The control circuit can determine 5173 whether the energygenerator 5112 was previously utilized in a prior step of the procedureby retrieving a list of the steps that have been performed in thecurrent surgical procedure from a memory, for example. In suchexemplifications, when the surgical hub 5104 determines that a step ofthe surgical procedure has been performed or completed by the surgicalstaff, the surgical hub 5104 can update a list of the procedural stepsthat have been performed, which can then be subsequently retrieved bythe control circuit of the surgical hub 5104. In one exemplification,the surgical hub 5104 can distinguish between sequences of firings ofthe surgical instrument as corresponding to separate steps of thesurgical procedure according to the time delay between the sequences offirings, whether any intervening actions were taken or modular devices5102 were utilized by the surgical staff, or other factors that thesituational awareness system can detect. If the energy generator 5112has not been previously utilized during the course of the segmentectomyprocedure, the process 5167 proceeds along the NO branch and the controlcircuit determines 5175 that the step of dissecting tissue to mobilizethe patient's lungs is being performed by the surgical staff. If theenergy generator 5112 has been previously utilized during the course ofthe segmentectomy procedure, the process 5167 proceeds along the YESbranch and the control circuit determines 5177 that the step ofdissecting nodes is being performed by the surgical staff. An ultrasonicsurgical instrument or RF electrosurgical instrument is utilized twiceduring the course of an example of a segmentectomy procedure (e.g., FIG.86); therefore, the situational awareness system of the surgical hub5104 executing the process 5167 can distinguish between which step theutilization of the energy generator 5112 indicates is currently beingperformed based upon whether the energy generator 5112 was previouslyutilized.

FIG. 84G illustrates a logic flow diagram of a process 5179 fordetermining a procedural step according to stapler perioperative data.As described above with respect to the process 5167 illustrated in FIG.84F, the process 5179 utilizes previously received perioperative dataand/or previously derived contextual information in deriving subsequentcontextual information. In this exemplification, the process 5179determines 5181 that a segmentectomy procedure is being performed. Thiscontextual information can be derived by this process 5179 or otherprocesses based upon other received perioperative data and/or retrievedfrom a memory. Subsequently, the control circuit receives 5183perioperative data from the surgical stapling instrument (i.e., stapler)indicating that the surgical stapling instrument is being fired and thendetermines 5185 whether the surgical stapling instrument was utilized ina previous step of the surgical procedure. As described above, thecontrol circuit can determine 5185 whether the surgical staplinginstrument was previously utilized in a prior step of the procedure byretrieving a list of the steps that have been performed in the currentsurgical procedure from a memory, for example. If the surgical staplinginstrument has not been utilized previously, then the process 5179proceeds along the NO branch and the control circuit determines 5187that the step of ligating arteries and veins is being performed by thesurgical staff. If the surgical stapling instrument has been previouslyutilized during the course of the segmentectomy procedure, the process5179 proceeds along the YES branch and the control circuit determines5189 that the step of transecting parenchyma is being performed by thesurgical staff. A surgical stapling instrument is utilized twice duringthe course of an example of a segmentectomy procedure (e.g., FIG. 86);therefore, the situational awareness system of the surgical hub 5104executing the process 5179 can distinguish between which step theutilization of the surgical stapling instrument indicates is currentlybeing performed based upon whether the surgical stapling instrument waspreviously utilized

FIG. 84H illustrates a logic flow diagram of a process 5191 fordetermining a patient status according to ventilator 5110, pulseoximeter 5114, BP monitor 5116, and/or EKG monitor 5120 perioperativedata. In this exemplification, the control circuit of the surgical hub5104 executing the process 5191 receives 5193, 5195, 5197, 5199perioperative data from each of the ventilator 5110, pulse oximeter5114, BP monitor 5116, and/or EKG monitor 5120 and then determineswhether one or more values of the physiological parameters sensed byeach of the devices fall below a threshold for each of the physiologicalparameters. The threshold for each physiological parameter cancorrespond to a value that corresponds to a patient being underanesthesia. In other words, the control circuit determines 5201 whetherthe patient's respiration rate, oxygen saturation, blood pressure,and/or heart rate indicate that the patient is under anesthesiaaccording data sensed by the respective modular device 5102 and/orpatient monitoring devices 5124. In one exemplification, if the all ofthe values from the perioperative data are below their respectivethresholds, then the process 5191 proceeds along the YES branch and thecontrol circuit determines 5203 that the patient is under anesthesia. Inanother exemplification, the control circuit can determine 5203 that thepatient is under anesthesia if a particular number or ratio of themonitored physiological parameters indicate that the patient is underanesthesia. Otherwise, the process 5191 proceeds along the NO branch andthe control circuit determines 5205 that the patient is not underanesthesia.

FIG. 841 illustrates a logic flow diagram of a process 5207 fordetermining a patient status according to pulse oximeter 5114, BPmonitor 5116, and/or EKG monitor 5120 perioperative data. In thisexemplification, the control circuit of the surgical hub 5104 executingthe process 5207 receives 5209, 5211, 5213 (or attempts to receive)perioperative data the pulse oximeter 5114, BP monitor 5116, and/or EKGmonitor 5120 and then determines 5215 whether at least one of thedevices is paired with the surgical hub 5104 or the surgical hub 5104 isotherwise receiving data therefrom. If the control circuit is receivingdata from at least one of these patient monitoring devices 5124, theprocess 5207 proceeds along the YES branch and the control circuitdetermines 5217 that the patient is in the operating theater. Thecontrol circuit can make this determination because the patientmonitoring devices 5214 connected to the surgical hub 5104 must be inthe operating theater and thus the patient must likewise be in theoperating theater. If the control circuit is not receiving data from atleast one of these patient monitoring devices 5124, the process 5207proceeds along the NO branch and the control circuit determines 5219that the patient is not in the operating theater.

FIG. 84J illustrates a logic flow diagram of a process 5221 fordetermining a patient status according to ventilator 5110 perioperativedata. In this exemplification, the control circuit of the surgical hub5104 executing the process 5221 receives 5223 perioperative data fromthe ventilator 5110 and then determines 5225 whether the patient'sairway volume has decreased or is decreasing. In one exemplification,the control circuit determines 5225 whether the patient's airway volumefalls below a particular threshold value indicative of a lung havingcollapsed or been deflated. In another exemplification, the controlcircuit determines 5225 whether the patient's airway volume falls belowan average or baseline level by a threshold amount. If the patient'sairway volume has not decreased sufficiently, the process 5221 proceedsalong the NO branch and the control circuit determines 5227 that thepatient's lung is not deflated. If the patient's airway volume hasdecreased sufficiently, the process 5221 proceeds along the YES branchand the control circuit determines 5229 that the patient's lung is notdeflated.

In one exemplification, the surgical system 5100 can further includevarious scanners that can be paired with the surgical hub 5104 to detectand record objects and individuals that enter and exit the operatingtheater. FIG. 85A illustrates a scanner 5128 paired with a surgical hub5104 that is configured to scan a patient wristband 5130. In one aspect,the scanner 5128 includes, for example, a barcode reader or aradio-frequency identification (RFID) reader that is able to readpatient information from the patient wristband 5130 and then transmitthat information to the surgical hub 5104. The patient information caninclude the surgical procedure to be performed or identifyinginformation that can be cross-referenced with the hospital's EMRdatabase 5122 by the surgical hub 5104, for example. FIG. 85Billustrates a scanner 5132 paired with a surgical hub 5104 that isconfigured to scan a product list 5134 for a surgical procedure. Thesurgical hub 5104 can utilize data from the scanner 5132 regarding thenumber, type, and mix of items to be used in the surgical procedure toidentify the type of surgical procedure being performed. In oneexemplification, the scanner 5132 includes a product scanner (e.g., abarcode reader or an RFID reader) that is able to read the productinformation (e.g., name and quantity) from the product itself or theproduct packaging as the products are brought into the operating theaterand then transmit that information to the surgical hub 5104. In anotherexemplification, the scanner 5132 includes a camera (or othervisualization device) and associated optical character recognitionsoftware that is able to read the product information from a productlist 5134. The surgical hub 5104 can be configured to cross-referencethe list of items indicated by the received data with a lookup table ordatabase of items utilized for various types of surgical procedures inorder to infer the particular surgical procedure that is to be (or was)performed. As shown in FIG. 85B, the illustrative product list 5134includes ring forceps, rib spreaders, a powered vascular stapler (PVS),and a thoracic wound protector. In this example, the surgical hub 5104can infer that the surgical procedure is a thoracic procedure from thisdata since these products are only utilized in thoracic procedures. Insum, the scanner(s) 5128, 5132 can provide serial numbers, productlists, and patient information to the surgical hub 5104. Based on thisdata regarding what devices and instruments are being utilized and thepatient's medical information, the surgical hub 5104 can determineadditional contextual information regarding the surgical procedure.

Situational Awareness

Situational awareness is the ability of some aspects of a surgicalsystem to determine or infer information related to a surgical procedurefrom data received from databases and/or instruments. The informationcan include the type of procedure being undertaken, the type of tissuebeing operated on, or the body cavity that is the subject of theprocedure. With the contextual information related to the surgicalprocedure, the surgical system can, for example, improve the manner inwhich it controls the modular devices (e.g., a robotic arm and/orrobotic surgical tool) that are connected to it and providecontextualized information or suggestions to the surgeon during thecourse of the surgical procedure.

In order to assist in the understanding of the process 5000 aillustrated in FIG. 82A and the other concepts discussed above, FIG. 86illustrates a timeline 5200 of an illustrative surgical procedure andthe contextual information that a surgical hub 5104 can derive from thedata received from the data sources 5126 at each step in the surgicalprocedure. In the following description of the timeline 5200 illustratedin FIG. 86, reference should also be made to FIG. 81. The timeline 5200depicts the typical steps that would be taken by the nurses, surgeons,and other medical personnel during the course of a lung segmentectomyprocedure, beginning with setting up the operating theater and endingwith transferring the patient to a post-operative recovery room. Thesituationally aware surgical hub 5104 receives data from the datasources 5126 throughout the course of the surgical procedure, includingdata generated each time medical personnel utilize a modular device 5102that is paired with the surgical hub 5104. The surgical hub 5104 canreceive this data from the paired modular devices 5102 and other datasources 5126 and continually derive inferences (i.e., contextualinformation) about the ongoing procedure as new data is received, suchas which step of the procedure is being performed at any given time. Thesituational awareness system of the surgical hub 5104 is able to, forexample, record data pertaining to the procedure for generating reports(e.g., see FIGS. 90-101), verify the steps being taken by the medicalpersonnel, provide data or prompts (e.g., via a display screen) that maybe pertinent for the particular procedural step, adjust modular devices5102 based on the context (e.g., activate monitors, adjust the FOV ofthe medical imaging device, or change the energy level of an ultrasonicsurgical instrument or RF electrosurgical instrument), and take anyother such action described above.

As the first step 5202 in this illustrative procedure, the hospitalstaff members retrieve the patient's EMR from the hospital's EMRdatabase. Based on select patient data in the EMR, the surgical hub 5104determines that the procedure to be performed is a thoracic procedure.Second 5204, the staff members scan the incoming medical supplies forthe procedure. The surgical hub 5104 cross-references the scannedsupplies with a list of supplies that are utilized in various types ofprocedures and confirms that the mix of supplies corresponds to athoracic procedure (e.g., as depicted in FIG. 85B). Further, thesurgical hub 5104 is also able to determine that the procedure is not awedge procedure (because the incoming supplies either lack certainsupplies that are necessary for a thoracic wedge procedure or do nototherwise correspond to a thoracic wedge procedure). Third 5206, themedical personnel scan the patient band (e.g., as depicted in FIG. 85A)via a scanner 5128 that is communicably connected to the surgical hub5104. The surgical hub 5104 can then confirm the patient's identitybased on the scanned data. Fourth 5208, the medical staff turns on theauxiliary equipment. The auxiliary equipment being utilized can varyaccording to the type of surgical procedure and the techniques to beused by the surgeon, but in this illustrative case they include a smokeevacuator, insufflator, and medical imaging device. When activated, theauxiliary equipment that are modular devices 5102 can automatically pairwith the surgical hub 5104 that is located within a particular vicinityof the modular devices 5102 as part of their initialization process. Thesurgical hub 5104 can then derive contextual information about thesurgical procedure by detecting the types of modular devices 5102 thatpair with it during this pre-operative or initialization phase. In thisparticular example, the surgical hub 5104 determines that the surgicalprocedure is a VATS procedure based on this particular combination ofpaired modular devices 5102. Based on the combination of the data fromthe patient's EMR, the list of medical supplies to be used in theprocedure, and the type of modular devices 5102 that connect to the hub,the surgical hub 5104 can generally infer the specific procedure thatthe surgical team will be performing. Once the surgical hub 5104 knowswhat specific procedure is being performed, the surgical hub 5104 canthen retrieve the steps of that procedure from a memory or from thecloud and then cross-reference the data it subsequently receives fromthe connected data sources 5126 (e.g., modular devices 5102 and patientmonitoring devices 5124) to infer what step of the surgical procedurethe surgical team is performing. Fifth 5210, the staff members attachthe EKG electrodes and other patient monitoring devices 5124 to thepatient. The EKG electrodes and other patient monitoring devices 5124are able to pair with the surgical hub 5104. As the surgical hub 5104begins receiving data from the patient monitoring devices 5124, thesurgical hub 5104 thus confirms that the patient is in the operatingtheater, as described in the process 5207 depicted in FIG. 841, forexample. Sixth 5212, the medical personnel induce anesthesia in thepatient. The surgical hub 5104 can infer that the patient is underanesthesia based on data from the modular devices 5102 and/or patientmonitoring devices 5124, including EKG data, blood pressure data,ventilator data, or combinations thereof, as described in the process5191 depicted in FIG. 84H, for example. Upon completion of the sixthstep 5212, the pre-operative portion of the lung segmentectomy procedureis completed and the operative portion begins.

Seventh 5214, the patient's lung that is being operated on is collapsed(while ventilation is switched to the contralateral lung). The surgicalhub 5104 can infer from the ventilator data that the patient's lung hasbeen collapsed, as described in the process 5221 depicted in FIG. 84J,for example. The surgical hub 5104 can infer that the operative portionof the procedure has commenced as it can compare the detection of thepatient's lung collapsing to the expected steps of the procedure (whichcan be accessed or retrieved previously) and thereby determine thatcollapsing the lung is the first operative step in this particularprocedure. Eighth 5216, the medical imaging device 5108 (e.g., a scope)is inserted and video from the medical imaging device is initiated. Thesurgical hub 5104 receives the medical imaging device data (i.e., videoor image data) through its connection to the medical imaging device.Upon receipt of the medical imaging device data, the surgical hub 5104can determine that the laparoscopic portion of the surgical procedurehas commenced. Further, the surgical hub 5104 can determine that theparticular procedure being performed is a segmentectomy, as opposed to alobectomy (note that a wedge procedure has already been discounted bythe surgical hub 5104 based on data received at the second step 5204 ofthe procedure). The data from the medical imaging device 124 (FIG. 2)can be utilized to determine contextual information regarding the typeof procedure being performed in a number of different ways, including bydetermining the angle at which the medical imaging device is orientedwith respect to the visualization of the patient's anatomy, monitoringthe number or medical imaging devices being utilized (i.e., that areactivated and paired with the surgical hub 5104), and monitoring thetypes of visualization devices utilized. For example, one technique forperforming a VATS lobectomy places the camera in the lower anteriorcorner of the patient's chest cavity above the diaphragm, whereas onetechnique for performing a VATS segmentectomy places the camera in ananterior intercostal position relative to the segmental fissure. Usingpattern recognition or machine learning techniques, for example, thesituational awareness system can be trained to recognize the positioningof the medical imaging device according to the visualization of thepatient's anatomy. As another example, one technique for performing aVATS lobectomy utilizes a single medical imaging device, whereas anothertechnique for performing a VATS segmentectomy utilizes multiple cameras.As yet another example, one technique for performing a VATSsegmentectomy utilizes an infrared light source (which can becommunicably coupled to the surgical hub as part of the visualizationsystem) to visualize the segmental fissure, which is not utilized in aVATS lobectomy. By tracking any or all of this data from the medicalimaging device 5108, the surgical hub 5104 can thereby determine thespecific type of surgical procedure being performed and/or the techniquebeing used for a particular type of surgical procedure.

Ninth 5218, the surgical team begins the dissection step of theprocedure. The surgical hub 5104 can infer that the surgeon is in theprocess of dissecting to mobilize the patient's lung because it receivesdata from the RF or ultrasonic generator indicating that an energyinstrument is being fired. The surgical hub 5104 can cross-reference thereceived data with the retrieved steps of the surgical procedure todetermine that an energy instrument being fired at this point in theprocess (i.e., after the completion of the previously discussed steps ofthe procedure) corresponds to the dissection step. Tenth 5220, thesurgical team proceeds to the ligation step of the procedure. Thesurgical hub 5104 can infer that the surgeon is ligating arteries andveins because it receives data from the surgical stapling and cuttinginstrument indicating that the instrument is being fired. Similarly tothe prior step, the surgical hub 5104 can derive this inference bycross-referencing the receipt of data from the surgical stapling andcutting instrument with the retrieved steps in the process. Eleventh5222, the segmentectomy portion of the procedure is performed. Thesurgical hub 5104 can infer that the surgeon is transecting theparenchyma based on data from the surgical stapling and cuttinginstrument, including data from its cartridge. The cartridge data cancorrespond to the size or type of staple being fired by the instrument,for example. As different types of staples are utilized for differenttypes of tissues, the cartridge data can thus indicate the type oftissue being stapled and/or transected. In this case, the type of staplebeing fired is utilized for parenchyma (or other similar tissue types),which allows the surgical hub 5104 to infer that the segmentectomyportion of the procedure is being performed. Twelfth 5224, the nodedissection step is then performed. The surgical hub 5104 can infer thatthe surgical team is dissecting the node and performing a leak testbased on data received from the generator indicating that an RF orultrasonic instrument is being fired. For this particular procedure, anRF or ultrasonic instrument being utilized after parenchyma wastransected corresponds to the node dissection step, which allows thesurgical hub 5104 to make this inference. It should be noted thatsurgeons regularly switch back and forth between surgicalstapling/cutting instruments and surgical energy (i.e., RF orultrasonic) instruments depending upon the particular step in theprocedure because different instruments are better adapted forparticular tasks. Therefore, the particular sequence in which thestapling/cutting instruments and surgical energy instruments are usedcan indicate what step of the procedure the surgeon is performing. Uponcompletion of the twelfth step 5224, the incisions and closed up and thepost-operative portion of the procedure begins.

Thirteenth 5226, the patient's anesthesia is reversed. The surgical hub5104 can infer that the patient is emerging from the anesthesia based onthe ventilator data (i.e., the patient's breathing rate beginsincreasing), for example. Lastly, the fourteenth step 5228 is that themedical personnel remove the various patient monitoring devices 5124from the patient. The surgical hub 5104 can thus infer that the patientis being transferred to a recovery room when the hub loses EKG, BP, andother data from the patient monitoring devices 5124. As can be seen fromthe description of this illustrative procedure, the surgical hub 5104can determine or infer when each step of a given surgical procedure istaking place according to data received from the various data sources5126 that are communicably coupled to the surgical hub 5104.

In addition to utilizing the patient data from EMR database(s) to inferthe type of surgical procedure that is to be performed, as illustratedin the first step 5202 of the timeline 5200 depicted in FIG. 86, thepatient data can also be utilized by a situationally aware surgical hub5104 to generate control adjustments for the paired modular devices5102. FIG. 87A illustrates a flow diagram depicting the process 5240 ofimporting patient data stored in an EMR database 5250 and derivinginferences 5256 therefrom, in accordance with at least one aspect of thepresent disclosure. Further, FIG. 87B illustrates a flow diagramdepicting the process 5242 of determining control adjustments 5264corresponding to the derived inferences 5256 from FIG. 87A, inaccordance with at least one aspect of the present disclosure. In thefollowing description of the processes 5240, 5242, reference should alsobe made to FIG. 81.

As shown in FIG. 87A, the surgical hub 5104 retrieves the patientinformation (e.g., EMR) stored in a database 5250 to which the surgicalhub 5104 is communicably connected. The unredacted portion of thepatient data is removed 5252 from the surgical hub 5104, leavinganonymized, stripped patient data 5254 related to the patient'scondition and/or the surgical procedure to be performed. The unredactedpatient data is removed 5252 in order to maintain patient anonymity forthe processing of the data (including if the data is uploaded to thecloud for processing and/or data tracking for reports). The strippedpatient data 5254 can include any medical conditions that the patient issuffering from, the patient's medical history (including previoustreatments or procedures), medication that the patient is taking, andother such medically relevant details. The control circuit of thesurgical hub 5104 can then derive various inferences 5256 from thestripped patient data 5254, which can in turn be utilized by thesurgical hub 5104 to derive various control adjustments for the pairedmodular devices 5102. The derived inferences 5256 can be based uponindividual pieces of data or combinations of pieces of data. Further,the derived inferences 5256 may, in some cases, be redundant with eachother as some data may lead to the same inference. By integrating eachpatient's stripped patient data 5254 into the situational awarenesssystem, the surgical hub 5104 is thus able to generate pre-procedureadjustments to optimally control each of the modular devices 5102 basedon the unique circumstances associated with each individual patient. Inthe illustrated example, the stripped patient data 5254 includes that(i) the patient is suffering from emphysema, (ii) has high bloodpressure, (iii) is suffering from a small cell lung cancer, (iv) istaking warfarin (or another blood thinner), and/or (v) has receivedradiation pretreatment. In the illustrated example, the inferences 5256derived from the stripped patient data 5254 include that (i) the lungtissue will be more fragile than normal lung tissue, (ii) hemostasisissues are more likely, (iii) the patient is suffering from a relativelyaggressive cancer, (iv) hemostasis issues are more likely, and (v) thelung tissue will be stiffer and more prone to fracture, respectively.

After the control circuit of the surgical hub 5104 receives oridentifies the implications 5256 that are derived from anonymizedpatient data, the control circuit of the surgical hub 5104 is configuredto execute a process 5242 to control the modular devices 5102 in amanner consistent with the derived implications 5256. In the exampleshown in FIG. 87B, the control circuit of the surgical hub 5104interprets how the derived implications 5256 impacts the modular devices5102 and then communicates corresponding control adjustments to each ofthe modular devices 5102. In the example shown in FIG. 87B, the controladjustments include (i) adjusting the compression rate thresholdparameter of the surgical stapling and cutting instrument, (ii)adjusting the visualization threshold value of the surgical hub 5104 toquantify bleeding via the visualization system 108 (FIG. 2) (thisadjustment can apply to the visualization system 108 itself or as aninternal parameter of the surgical hub 5104), (iii) adjusts the powerand control algorithms of the combo generator module 140 (FIG. 3) forthe lung tissue and vessel tissue types, (iv) adjusts the margin rangesof the medical imaging device 124 (FIG. 2) to account for the aggressivecancer type, (v) notifies the surgical stapling and cutting instrumentof the margin parameter adjustment needed (the margin parametercorresponds to the distance or amount of tissue around the cancer thatwill be excised), and (vi) notifies the surgical stapling and cuttinginstrument that the tissue is potentially fragile, which causes thecontrol algorithm of the surgical stapling and cutting instrument toadjust accordingly. Furthermore, the data regarding the implications5256 derived from the anonymized patient data 5254 is considered by thesituational awareness system to infer contextual information 5260regarding the surgical procedure being performed. In the example shownin FIG. 87B, the situational awareness system further infers that theprocedure is a thoracic lung resection 5262, e.g., segmentectomy.

Determining where inefficiencies or ineffectiveness may reside in amedical facility's practice can be challenging because medicalpersonnel's efficiency in completing a surgical procedure, correlatingpositive patient outcomes with particular surgical teams or particulartechniques in performing a type of surgical procedure, and otherperformance measures are not easily quantified using legacy systems. Asone solution, the surgical hubs can be employed to track and store datapertaining to the surgical procedures that the surgical hubs are beingutilized in connection with and generate reports or recommendationsrelated to the tracked data. The tracked data can include, for example,the length of time spent during a particular procedure, the length oftime spent on a particular step of a particular procedure, the length ofdowntime between procedures, modular device(s) (e.g., surgicalinstruments) utilized during the course of a procedure, and the numberand type of surgical items consumed during a procedure (or stepthereof). Further, the tracked data can include, for example, theoperating theater in which the surgical hub is located, the medicalpersonnel associated with the particular event (e.g., the surgeon orsurgical team performing the surgical procedure), the day and time atwhich the particular event(s) occurred, and patient outcomes. This datacan be utilized to create performance metrics, which can be utilized todetect and then ultimately address inefficiencies or ineffectivenesswithin a medical facility's practice. In one exemplification, thesurgical hub includes a situational awareness system, as describedabove, that is configured to infer or determine information regarding aparticular event (e.g., when a particular step of a surgical procedureis being performed and/or how long the step took to complete) based ondata received from data sources connected to the surgical hub (e.g.,paired modular devices). The surgical hub can then store this trackeddata to provide reports or recommendations to users.

Aggregation and Reporting of Surgical Hub Data

FIG. 88 illustrates a block diagram of a computer-implementedinteractive surgical system 5700, in accordance with at least one aspectof the present disclosure. The system 5700 includes a number of surgicalhubs 5706 that, as described above, are able to detect and track datarelated to surgical procedures that the surgical hubs 5706 (and themodular devices paired to the surgical hubs 5706) are utilized inconnection with. In one exemplification, the surgical hubs 5706 areconnected to form local networks such that the data being tracked by thesurgical hubs 5706 is aggregated together across the network. Thenetworks of surgical hubs 5706 can be associated with a medicalfacility, for example. The data aggregated from the network of surgicalhubs 5706 can be analyzed to provide reports on data trends orrecommendations. For example, the surgical hubs 5706 of a first medicalfacility 5704 a are communicably connected to a first local database5708 a and the surgical hubs 5706 of a second medical facility 5704 bare communicably connected to a second local database 5708 b. Thenetwork of surgical hubs 5706 associated with the first medical facility5704 a can be distinct from the network of surgical hubs 5706 associatedwith the second medical facility 5704 b, such that the aggregated datafrom each network of surgical hubs 5706 corresponds to each medicalfacility 5704 a, 5704 b individually. A surgical hub 5706 or anothercomputer terminal communicably connected to the database 5708 a, 5708 bcan be configured to provide reports or recommendations based on theaggregated data associated with the respective medical facility 5704 a,5704 b. In this exemplification, the data tracked by the surgical hubs5706 can be utilized to, for example, report whether a particularincidence of a surgical procedure deviated from the average in-networktime to complete the particular procedure type.

In another exemplification, each surgical hub 5706 is configured toupload the tracked data to the cloud 5702, which then processes andaggregates the tracked data across multiple surgical hubs 5706, networksof surgical hubs 5706, and/or medical facilities 5704 a, 5704 b that areconnected to the cloud 5702. Each surgical hub 5706 can then be utilizedto provide reports or recommendations based on the aggregated data. Inthis exemplification, the data tracked by the surgical hubs 5706 can beutilized to, for example, report whether a particular incidence of asurgical procedure deviated from the average global time to complete theparticular procedure type.

In another exemplification, each surgical hub 5706 can further beconfigured to access the cloud 5702 to compare locally tracked data toglobal data aggregated from all of the surgical hubs 5706 that arecommunicably connected to the cloud 5702. Each surgical hub 5706 can beconfigured to provide reports or recommendations based on the comparisonbetween the tracked local data relative to local (i.e., in-network) orglobal norms. In this exemplification, the data tracked by the surgicalhubs 5706 can be utilized to, for example, report whether a particularincidence of a surgical procedure deviated from either the averagein-network time or the average global time to complete the particularprocedure type.

In one exemplification, each surgical hub 5706 or another computersystem local to the surgical hub 5706 is configured to locally aggregatethe data tracked by the surgical hubs 5706, store the tracked data, andgenerate reports and/or recommendations according to the tracked data inresponse to queries. In cases where the surgical hub 5706 is connectedto a medical facility network (which may include additional surgicalhubs 5706), the surgical hub 5706 can be configured to compare thetracked data with the bulk medical facility data. The bulk medicalfacility data can include EMR data and aggregated data from the localnetwork of surgical hubs 5706. In another exemplification, the cloud5702 is configured to aggregate the data tracked by the surgical hubs5706, store the tracked data, and generate reports and/orrecommendations according to the tracked data in response to queries.

Each surgical hub 5706 can provide reports regarding trends in the dataand/or provide recommendations on improving the efficiency oreffectiveness of the surgical procedures being performed. In variousexemplifications, the data trends and recommendations can be based ondata tracked by the surgical hub 5706 itself, data tracked across alocal medical facility network containing multiple surgical hubs 5706,or data tracked across a number of surgical hubs 5706 communicablyconnected to a cloud 5702. The recommendations provided by the surgicalhub 5706 can describe, for example, particular surgical instruments orproduct mixes to utilize for particular surgical procedures based oncorrelations between the surgical instruments/product mixes and patientoutcomes and procedural efficiency. The reports provided by the surgicalhub 5706 can describe, for example, whether a particular surgicalprocedure was performed efficiently relative to local or global norms,whether a particular type of surgical procedure being performed at themedical facility is being performed efficiently relative to globalnorms, and the average time taken to complete a particular surgicalprocedure or step of a surgical procedure for a particular surgicalteam.

In one exemplification, each surgical hub 5706 is configured todetermine when operating theater events occur (e.g., via a situationalawareness system) and then track the length of time spent on each event.An operating theater event is an event that a surgical hub 5706 candetect or infer the occurrence of. An operating theater event caninclude, for example, a particular surgical procedure, a step or portionof a surgical procedure, or downtime between surgical procedures. Theoperating theater events can be categorized according to an event type,such as a type of surgical procedure being performed, so that the datafrom individual procedures can be aggregated together to form searchabledata sets. FIG. 90 illustrates an example of a diagram 5400 depictingthe data tracked by the surgical hubs 5706 being parsed to provideincreasingly detailed metrics related to surgical procedures or the useof the surgical hub 5706 (as depicted further in FIGS. 91-95) for anillustrative data set. In one exemplification, the surgical hub 5706 isconfigured to determine whether a surgical procedure is being performedand then track both the length of time spent between procedures (i.e.,downtime) and the time spent on the procedures themselves. The surgicalhub 5706 can further be configured to determine and track the time spenton each of the individual steps taken by the medical personnel (e.g.,surgeons, nurses, orderlies) either between or during the surgicalprocedures. The surgical hub can determine when surgical procedures ordifferent steps of surgical procedures are being performed via asituational awareness system, which is described in further detailabove.

FIG. 89 illustrates a logic flow diagram of a process 5300 for trackingdata associated with an operating theater event. In the followingdescription, description of the process 5300, reference should also bemade to FIG. 88. In one exemplification, the process 5300 can beexecuted by a control circuit of a surgical hub 206, as depicted in FIG.10 (processor 244). In yet another exemplification, the process 5300 canbe executed by a distributed computing system including a controlcircuit of a surgical hub 206 in combination with a control circuit of amodular device, such as the microcontroller 461 of the surgicalinstrument depicted FIG. 12, the microcontroller 620 of the surgicalinstrument depicted in FIG. 16, the control circuit 710 of the roboticsurgical instrument 700 depicted in FIG. 17, the control circuit 760 ofthe surgical instruments 750, 790 depicted in FIGS. 18 and 19, or thecontroller 838 of the generator 800 depicted in FIG. 20. For economy,the following description of the process 5300 will be described as beingexecuted by the control circuit of a surgical hub 5706; however, itshould be understood that the description of the process 5300encompasses all of the aforementioned exemplifications.

The control circuit of the surgical hub 5706 executing the process 5300receives 5302 perioperative data from the modular devices and other datasources (e.g., databases and patient monitoring devices) that arecommunicably coupled to the surgical hub 5706. The control circuit thendetermines 5304 whether an event has occurred via, for example, asituational awareness system that derives contextual information fromthe received 5302 data. The event can be associated with an operatingtheater in which the surgical hub 5706 in being used. The event caninclude, for example, a surgical procedure, a step or portion of asurgical procedure, or downtime between surgical procedures or steps ofa surgical procedure. Furthermore, the control circuit tracks dataassociated with the particular event, such as the length of time of theevent, the surgical instruments and/or other medical products utilizedduring the course of the event, and the medical personnel associatedwith the event. The surgical hub 5706 can further determine thisinformation regarding the event via, for example, the situationalawareness system.

For example, the control circuit of a situationally aware surgical hub5706 could determine that anesthesia is being induced in a patientthrough data received from one or more modular devices 5102 (FIG. 81)and/or patient monitoring devices 5124 (FIG. 81). The control circuitcould then determine that the operative portion of the surgicalprocedure has begun upon detecting that an ultrasonic surgicalinstrument or RF electrosurgical instrument has been activated. Thecontrol circuit could thus determine the length of time for theanesthesia inducement step according to the difference in time betweenthe beginning of that particular step and the beginning of the firststep in the operative portion of the surgical procedure. Likewise, thecontrol circuit could determine how long the particular operative stepin the surgical procedure took according to when the control circuitdetects the subsequent step in the procedure begins. Further, thecontrol circuit could determine how long the overall operative portionof the surgical procedure took according to when the control circuitdetects that the final operative step in the procedure ends. The controlcircuit can also determine what surgical instruments (and other modulardevices 5102) are being utilized during the course of each step in thesurgical procedure by tracking the activation and/or use of theinstruments during each of the steps. The control circuit can alsodetect the completion of the surgical procedure by, for example,detecting when the patient monitoring devices 5124 have been removedfrom the patient (as in step fourteen 5228 of FIG. 86). The controlcircuit can then track the downtime between procedures according to whenthe control circuit infers that the subsequent surgical procedure hasbegun.

The control circuit executing the process 5300 then aggregates 5306 thedata associated with the event according to the event type. In oneexemplification, the aggregated 5306 data can be stored in a memory 249(FIG. 10) of the surgical hub 5706. In another exemplification, thecontrol circuit is configured to upload the data associated with theevent to the cloud 5702, whereupon the data is aggregated 5306 accordingto the event type for all of the data uploaded by each of the surgicalhubs 5706 connected to the cloud 5702. In yet another exemplification,the control circuit is configured to upload the data associated with theevent to a database associated with a local network of the surgical hubs5706, whereupon the data is aggregated 5306 according to the event typefor all of the data uploaded across the local network of surgical hubs5706.

In one exemplification, the control circuit is further configured tocompare the data associated with the event type to baseline dataassociated with the event type. The baseline data can correspond to, forexample, average values associated with the particular event type for aparticular hospital, network of hospitals, or across the entirety of thecloud 5702. The baseline data can be stored on the surgical hub 5706 orretrieved by the surgical 5706 as the perioperative data is received5302 thereby.

Aggregating 5306 the data from each of the events according to the eventtype allows individual incidents of the event type to thereafter becompared against the historical or aggregated data to determine whendeviations from the norm for an event type occur. The control circuitfurther determines 5308 whether it has received a query. If the controlcircuit does not receive a query, then the process 5300 continues alongthe NO branch and loops back to continue receiving 5302 data from thedata sources. If the control circuit does receive a query for aparticular event type, the process 5300 continues along the YES branchand the control circuit then retrieves the aggregated data for theparticular event type and displays 5310 the appropriate aggregated datacorresponding to the query. In various exemplifications, the controlcircuit can retrieve the appropriate aggregated data from the memory ofthe surgical hub 5706, the cloud 5702, or a local database 5708 a, 5708b.

In one example, the surgical hub 5706 is configured to determine alength of time for a particular procedure via the aforementionedsituational awareness system according to data received from one or moremodular devices utilized in the performance of the surgical procedure(and other data sources). Each time a surgical procedure is completed,the surgical hub 5706 uploads or stores the length of time required tocomplete the particular type of surgical procedure, which is thenaggregated with the data from every other instance of the type ofprocedure. In some aspects, the surgical hub 5706, cloud 5702, and/orlocal database 5708 a, 5708 b can then determine an average or expectedprocedure length for the particular type of procedure from theaggregated data. When the surgical hub 5706 receives a query as to theparticular type of procedure thereafter, the surgical hub 5706 can thenprovide feedback as to the average (or expected) procedure length orcompare an individual incidence of the procedure type to the averageprocedure length to determine whether the particular incidence deviatestherefrom.

In some aspects, the surgical hub 5706 can be configured toautomatically compare each incidence of an event type to average orexpected norms for the event type and then provide feedback (e.g.,display a report) when a particular incidence of the event type deviatesfrom the norm. For example, the surgical hub 5706 can be configured toprovide feedback whenever a surgical procedure (or a step of thesurgical procedure) deviates from the expected length of time tocomplete the surgical procedure (or the step of the surgical procedure)by more than a set amount.

Referring back to FIG. 90, the surgical hub 5706 could be configured totrack, store, and display data regarding the number of patients operatedon (or procedures completed) per day per operating theater (bar graph5402 depicted further in FIG. 91), for example. The surgical hub 5706could be configured to further parse the number of patients operated on(or procedures completed) per day per operating theater and can befurther parsed according to the downtime between the procedures on agiven day (bar graph 5404 depicted further in FIG. 92) or the averageprocedure length on a given day (bar graph 5408 depicted further in FIG.94). The surgical hub 5706 can be further configured to provide adetailed breakdown of the downtime between procedures according to, forexample, the number and length of the downtime time periods and thesubcategories of the actions or steps during each time period (bar graph5406 depicted further in FIG. 93). The surgical hub 5706 can be furtherconfigured to provide a detailed breakdown of the average procedurelength on a given day according to each individual procedure and thesubcategory of actions or steps during each procedure (bar graph 5410depicted further in FIG. 95). The various graphs shown in FIGS. 90-95can represent data tracked by the surgical hub 5706 and can further begenerated automatically or displayed by the surgical hub 5706 inresponse to queries submitted by users.

FIG. 91 illustrates an example bar graph 5402 depicting the number ofpatients 5420 operated on relative to the days of the week 5422 fordifferent operating rooms 5424, 5426. The surgical hub 5706 can beconfigured to provide (e.g., via a display) the number of patients 5420operated on or procedures that are completed in connection with eachsurgical hub 5706, which can be tracked through a situational awarenesssystem or accessing the hospital's EMR database, for example. In oneexemplification, the surgical hub 5706 can further be configured tocollate this data from different surgical hubs 5706 within the medicalfacility that are communicably connected together, which allows eachindividual surgical hub to present the aggregated data of the medicalfacility on a hub-by-hub or operating theater-by-theater basis. In oneexemplification, the surgical hub 5706 can be configured to compare oneor more tracked metrics to a threshold value (which may be unique toeach tracked metric). When at least one of the tracked metrics exceedsthe threshold value (i.e., either increases above or drops below thethreshold value, as appropriate for the particular tracked metric), thenthe surgical hub 5706 provides a visual, audible, or tactile alert tonotify a user of such. For example, the surgical hub 5706 can beconfigured to indicate when the number of patients or proceduresdeviates from an expected, average, or threshold value. For example,FIG. 91 depicts the number of patients on Tuesday 5428 and Thursday 5430for a first operating theater 5424 as being highlighted for being belowexpectation. Conversely, no days are highlighted for a second operatingtheater 5426 for this particular week, which means in this context thatthe number of patients for each day falls within expectations.

FIG. 92 illustrates a bar graph 5404 depicting the total downtimebetween procedures 5432 relative to the days of a week 5434 for aparticular operating room. The surgical hub 5706 can be configured totrack the length of downtime between surgical procedures through asituational awareness system, for example. The situational awarenesssystem can detect or infer when each particular downtime instance isoccurring and then track the length of time for each instance ofdowntime. The surgical hub 5706 can thereby determine the total downtime5432 for each day of the week 5434 by summing the downtime instances foreach particular day. In one exemplification, the surgical hub 5706 canbe configured to provide an alert when the total length of downtime on agiven day (or another unit of time) deviates from an expected, average,or threshold value. For example, FIG. 92 depicts the total downtime 5432on Tuesday 5436 and Friday 5438 as being highlighted for deviating froman expected length of time.

FIG. 93 illustrates a bar graph 5406 depicting the total downtime 5432per day of the week 5434 as depicted in FIG. 92 broken down according toeach individual downtime instance. The number of downtime instances andthe length of time for each downtime instance can be represented withineach day's total downtime. For example, on Tuesday in the firstoperating theater (OR1) there were four instances of downtime betweenprocedures and the magnitude of the first downtime instance indicatesthat it was longer than the other three instances. In oneexemplification, the surgical hub 5706 is configured to further indicatethe particular actions or steps taken during a selected downtimeinstance. For example, in FIG. 93, Thursday's second downtime instance5440 has been selected, which then causes a callout 5442 to be displayedindicating that this particular downtime instance consisted ofperforming the initial set-up of the operating theater, administeringanesthesia, and prepping the patient. As with the downtime instancesthemselves, the relative size or length of the actions or steps withinthe callout 5442 can correspond to the length of time for eachparticular action or step. The detail views for the downtime instancescan be displayed when a user selects the particular instance, forexample.

FIG. 94 illustrates a bar graph 5408 depicting the average procedurelength 5444 relative to the days of a week 5446 for a particularoperating theater. The surgical hub 5706 can be configured to track theaverage procedure length through a situational awareness system, forexample. The situational awareness system can detect or infer when eachparticular step of a surgical procedure is occurring (see FIG. 86, forexample) and then track the length of time for each of the steps. Thesurgical hub 5706 can thereby determine the total downtime 5432 for eachday of the week 5434 by summing the lengths of the downtime instancesfor the particular day. In one exemplification, the surgical hub 5706can be configured to indicate when the average procedure length deviatesfrom an expected value. For example, FIG. 94 depicts Thursday's averageprocedure length 5448 for the first operating room (OR1) as beinghighlighted for deviating from an expected length of time.

FIG. 95 illustrates a bar graph 5410 depicting the procedure lengths5450 relative to procedure types 5452. The depicted procedure lengths5450 can either represent the average procedure lengths for particulartypes of procedures or the procedure lengths for each individualprocedure performed on a given day in a given operating theater. Theprocedure lengths 5450 for different procedure types 5452 can then becompared. Further, the average lengths for the steps in a procedure type5452 or the length for each particular step in a particular procedurecan be displayed when a procedure is selected. Further, the proceduretypes 5452 can be tagged with various identifiers for parsing andcomparing different data sets. For example, in FIG. 95 the firstprocedure 5454 corresponds to a colorectal procedure (specifically, alow anterior resection) where there was a preoperative identification ofabdominal adhesions. The second procedure 5456 corresponds to a thoracicprocedure (specifically, a segmentectomy). It should be noted again thatthe procedures depicted in FIG. 95 can represent the lengths of time forindividual procedures or the average lengths of time for all of theprocedures for the given procedure types. Each of the procedures canfurther be broken down according to the length of time for each step inthe procedure. For example, FIG. 95 depicts the second procedure 5456 (athoracic segmentectomy) as including an icon or graphical representation5458 of the length of time spent on the dissect vessels, ligate (thevessels), nodal dissection, and closing steps of the surgical procedure.As with the procedure lengths themselves, the relative size or length ofthe steps within the graphical representation 5442 can correspond to thelength of time for each particular step of the surgical procedure. Thedetail views for the steps of the surgical procedures can be displayedwhen a user selects the particular procedure, for example. In oneexemplification, the surgical hub 5706 can be configured to identifywhen a length of time to complete a given step in the procedure deviatesfrom an expected length of time. For example, FIG. 95 depicts the nodaldissection step as being highlighted for deviating from an expectedlength of time.

In one exemplification, an analytics package of the surgical hub 5706can be configured to provide the user with usage data and resultscorrelations related to the surgical procedures (or downtime betweenprocedures). For example, the surgical hub 5706 can be configured todisplay methods or suggestions to improve the efficiency oreffectiveness of a surgical procedure. As another example, the surgicalhub 5706 can be configured to display methods to improve costallocation. FIGS. 96-101 depict examples of various metrics that can betracked by the surgical hub 5706, which can then be utilized to providemedical facility personnel suggestions for inventory utilization ortechnique outcomes. For example, a surgical hub 5706 could provide asurgeon with a suggestion pertaining to a particular technique outcomeprior to or at the beginning of a surgical procedure based on themetrics tracked by the surgical hub 5706.

FIG. 96 illustrates a bar graph 5460 depicting the average completiontime 5462 for particular procedural steps 5464 for different types ofthoracic procedures. The surgical hub 5706 can be configured to trackand store historical data for different types of procedures andcalculate the average time to complete the procedure (or an individualstep thereof). For example, FIG. 96 depicts the average completion time5462 for thoracic segmentectomy 5466, wedge 5468, and lobectomy 5470procedures. For each type of procedure, the surgical hub 5706 can trackthe average time to complete each step thereof. In this particularexample, the dissection, vessel transection, and node dissection stepsare indicated for each type of procedure. In addition to tracking andproviding the average time for the steps of the procedure types, thesurgical hub 5706 can additionally track other metrics or historicaldata, such as the complication rate for each procedure type (i.e., therate of procedures having at least one complication as defined by thesurgical hub 5706 or the surgeon). Additional tracked metrics for eachprocedure type, such as the complication rate, can also be depicted forcomparison between the different procedure types.

FIG. 97 illustrates a bar graph 5472 depicting the procedure time 5474relative to procedure types 5476. The surgical hub 5706 can beconfigured to track and store historical data or metrics for differentprocedure types 5476 or classes, which can encompass multiple subtypesof procedures. For example, FIG. 97 depicts the procedure time 5474 forsurgical procedures classified as a thoracic 5478, bariatric 5480, orcolorectal 5482 procedure. In various exemplifications, the surgical hub5706 can output the procedure time 5474 for the procedureclassifications expressed in terms of either the total length of time orthe average time spent on the given procedure types 5476. The analyticspackage of the surgical hub 5706 can, for example, provide this data tothe surgeons, hospital officials, or medical personnel to track theefficiency of the queried procedures. For example, FIG. 97 depictsbariatric procedures 5480 as taking a lower average time (i.e., beingmore time efficient) than either thoracic procedures 5478 or colorectalprocedures 5482.

FIG. 98 illustrates a bar graph 5484 depicting operating room downtime5486 relative to the time of day 5488. Relatedly, FIG. 99 illustrates abar graph 5494 depicting operating room downtime 5496 relative to theday of the week 5498. Operating room downtime 5486, 5496 can beexpressed in, for example, a length of a unit of time or relativeutilization (i.e., percentage of time that the operating room is inuse). The operating room downtime data can encompass an individualoperating room or an aggregation of multiple operating rooms at amedical facility. As discussed above, a surgical hub 5706 can beconfigured to track whether a surgical procedure is being performed inthe operating theater associated with the surgical hub 5706 (includingthe length of time that a surgical procedure is or is not beingperformed) utilizing a situational awareness system, for example. Asshown in FIGS. 98 and 99, the surgical hub 5706 can provide an output(e.g., bar graphs 5484, 5494 or other graphical representations of data)depicting the tracked data pertaining to when the operating room isbeing utilized (i.e., when a surgical procedure is being performed)and/or when there is downtime between procedures. Such data can beutilized to identify ineffectiveness or inefficiencies in performingsurgical procedures, cleaning or preparing operating theaters forsurgery, scheduling, and other metrics associated with operating theateruse. For example, FIG. 98 depicts a comparative increase in operatingroom downtime 5486 at a first instance 5490 from 11:00 a.m.-12:00 p.m.and a second instance 5492 from 3:00-4:00 p.m. As another example, FIG.99 depicts a comparative increase in operating room downtime 5496 onMondays 5500 and Fridays 5502. In various exemplifications, the surgicalhub 5706 can provide operating theater downtime data for a particularinstance (i.e., a specific time, day, week, etc.) or an averageoperating theater downtime data for a category of instances (i.e.,aggregated data for a day, time, week, etc.). Hospital officials orother medical personnel thus could use this data to identify specificinstances where an inefficiency may have occurred or identify trends inparticular days and/or times of day where there may be inefficiencies.From such data, the hospital officials or other medical personnel couldthen investigate to identify the specific reasons for these increaseddowntimes and take corrective action to address the identified reason.

In various exemplifications, the surgical hub 5706 can be configured todisplay data in response to queries in a variety of different formats(e.g., bar graphs, pie graphs, infographics). FIG. 100 illustrates apair of pie charts depicting the percentage of time that the operatingtheater is utilized. The operating theater utilization percentage canencompass an individual operating theater or an aggregation of multipleoperating theaters (e.g., the operating rooms at a medical facility orevery operating room for all medical facilities having surgical hubs5706 connected to the cloud 5702). As discussed above, a surgical hub5706 can be configured to determine when a surgical procedure is or isnot being performed (i.e., whether the operating theater associated withthe surgical hub 5706 is being utilized) using a situational awarenesssystem, for example. In addition to expressing operating theaterutilization in terms of an average or absolute amount for different timeperiods (as depicted in FIGS. 98-99), the surgical hub 5706 canadditionally express operating theater utilization in terms of apercentage or relative amount compared to a maximum possibleutilization. As above, the operating theater utilization can be parsedfor particular time periods, including the overall utilization (i.e.,the total historical percentage of time in use) for the particularoperating theater (or groups of operating theaters) or the utilizationover the span of a particular time period. As shown in FIG. 100, a firstpie chart 5504 depicts the overall operating theater utilization 550885%) and a second pie chart 5506 depicts the operating theaterutilization for the prior week 5510 (75%). Hospital officials and othermedical personnel could use this data to identify that there may havebeen some inefficiency that occurred in the prior week that caused theparticular operating theater (or group of operating theaters) to beutilized less efficiently compared to the historical average so thatfurther investigations can be carried out to identify the specificreasons for this decreased utilization.

In some exemplifications, the surgical hub 5706 is configured to trackdetect and track the number of surgical items that are utilized duringthe course of a surgical procedure. This data can then be aggregated anddisplayed (either automatically or in response to a query) according to,for example, a particular time period (e.g., per day or per week) or fora particular surgical procedure type (e.g., thoracic procedures orabdominal procedures). FIG. 101 illustrates a bar graph 5512 depictingconsumed and unused surgical items 5514 relative to procedure type 5516.The surgical hub 5706 can be configured to determine or infer whatsurgical items are being consumed during the course of each surgicalprocedure via a situational awareness system. The situational awarenesssystem can determine or receive the list of surgical items to be used ina procedure (e.g., see FIG. 85B), determine or infer when each procedure(and steps thereof) begins and ends, and determine when a particularsurgical item is being utilized according to the procedural step beingperformed. The inventory of surgical items that are consumed or unusedduring the course of a surgical procedure can be represented in terms ofthe total number of surgical items or the average number of surgicalitems per procedure type 5516, for example. The consumed surgical itemscan include non-reusable items that are utilized during the course of asurgical procedure. The unused surgical items can include additionalitems that are not utilized during the procedure(s) or scrap items. Theprocedure type can correspond to broad classifications of procedures ora specific procedure type or technique for performing a procedure type.For example, in FIG. 101 the procedure types 5516 being compared arethoracic, colorectal, and bariatric procedures. For each of theseprocedure types 5516, the average number of consumed and unused surgicalitems 5514 are both provided. In one aspect, the surgical hub 5706 canbe configured to further parse the consumed and/or unused surgical items5514 by the specific item type. In one exemplification, the surgical hub5706 can provide a detailed breakdown of the surgical items 5514 makingup each item category for each surgical procedure type 5516 andgraphically represent the different categories of surgical items 5514.For example, in FIG. 101, the unused surgical items are depicted indashed lines and the consumed surgical items are depicted in solidlines. In one exemplification, the surgical hub 5706 is configured tofurther indicate the specific within a category for a particularprocedure type 5516. For example, in FIG. 93, the consumed itemscategory for the thoracic procedure type has been selected, which thencauses a callout 5520 to be displayed listing the particular surgicalitems in the category: stapler cartridges, sponges, saline, fibrinsealants, surgical sutures, and stapler buttress material. Furthermore,the callout 5520 can be configured to provide the quantities of thelisted items in the category, which may be the average or absolutequantities of the items (either consumed or unused) for the particularprocedure type.

In one exemplification, the surgical hub 5706 can be configured toaggregate tracked data in a redacted format (i.e., with anypatient-identifying information stripped out). Such bulk data can beutilized for academic or business analysis purposes. Further, thesurgical hub 5706 can be configured to upload the redacted or anonymizeddata to a local database of the medical facility in which the surgicalhub 5706 is located, an external database system, or the cloud 5702,whereupon the anonymized data can be accessed by user/clientapplications on demand The anonymized data can be utilized to compareoutcomes and efficiencies within a hospital or between geographicregions, for example.

The process 5300 depicted in FIG. 89 improves scheduling efficiency byallowing the surgical hubs 5706 to automatically store and providegranular detail on correlations between lengths of time required forvarious procedures according to particular days, particular types ofprocedures, particular hospital staff members, and other such metrics.This process 5300 also reduces surgical item waste by allowing thesurgical hubs 5706 to provide alerts when the amount of surgical itemsbeing consumed, either on a per-procedure basis or as a category, aredeviating from the expected amounts. Such alerts can be provided eitherautomatically or in response to receiving a query.

FIG. 102 illustrates a logic flow diagram of a process 5350 for storingdata from the modular devices and patient information database forcomparison. In the following description, description of the process5350, reference should also be made to FIG. 88. In one exemplification,the process 5350 can be executed by a control circuit of a surgical hub206, as depicted in FIG. 10 (processor 244). In yet anotherexemplification, the process 5350 can be executed by a distributedcomputing system including a control circuit of a surgical hub 206 incombination with a control circuit of a modular device, such as themicrocontroller 461 of the surgical instrument depicted FIG. 12, themicrocontroller 620 of the surgical instrument depicted in FIG. 16, thecontrol circuit 710 of the robotic surgical instrument 700 depicted inFIG. 17, the control circuit 760 of the surgical instruments 750, 790depicted in FIGS. 18 and 19, or the controller 838 of the generator 800depicted in FIG. 20. For economy, the following description of theprocess 5350 will be described as being executed by the control circuitof a surgical hub 5706; however, it should be understood that thedescription of the process 5350 encompasses all of the aforementionedexemplifications.

The control circuit executing the process 5350 receives data from thedata sources, such as the modular device(s) and the patient informationdatabase(s) (e.g., EMR databases) that are communicably coupled to thesurgical hub 5706. The data from the modular devices can include, forexample, usage data (e.g., data pertaining to how often the modulardevice has been utilized, what procedures the modular device has beenutilized in connection with, and who utilized the modular devices) andperformance data (e.g., data pertaining to the internal state of themodular device and the tissue being operated on). The data from thepatient information databases can include, for example, patient data(e.g., data pertaining to the patient's age, sex, and medical history)and patient outcome data (e.g., data pertaining to the outcomes from thesurgical procedure). In some exemplifications, the control circuit cancontinuously receive 5352 data from the data sources before, during, orafter a surgical procedure.

As the data is received 5352, the control circuit aggregates 5354 thedata in comparison groups of types of data. In other words, the controlcircuit causes a first type of data to be stored in association with asecond type of data. However, more than two different types of data canbe aggregated 5354 together into a comparison group. For example, thecontrol circuit could store a particular type of performance data for aparticular type of modular device (e.g., the force to fire for asurgical cutting and stapling instrument or the characterization of theenergy expended by an RF or ultrasonic surgical instrument) inassociation with patient data, such as sex, age (or age range), acondition (e.g., emphysema) associated with the patient. In oneexemplification, when the data is aggregated 5354 into comparisongroups, the data is anonymized such that all patient-identifyinginformation is removed from the data. This allows the data aggregated5354 into comparison groups to be utilized for studies, withoutcompromising confidential patient information. The various types of datacan be aggregated 5354 and stored in association with each other inlookup tables, arrays, and other such formats. In one exemplification,the received 5352 data is automatically aggregated 5354 into comparisongroups. Automatically aggregating 5354 and storing the data allows thesurgical hub 5706 to quickly return results for queries and the groupsof data to be exported for analysis according to specifically desireddata types.

When the control circuit receives 5356 a query for a comparison betweentwo or more of the tracked data types, the process 5350 proceeds alongthe YES branch. The control circuit then retrieves the particularcombination of the data types stored in association with each other andthen displays 5358 a comparison (e.g., a graph or other graphicalrepresentation of the data) between the subject data types. If thecontrol circuit does not receive 5356 a query, the process 5350continues along the NO branch and the control circuit continuesreceiving 5352 data from the data sources.

In one exemplification, the control circuit can be configured toautomatically quantify a correlation between the received 5352 datatypes. In such aspects, the control circuit can calculate a correlationcoefficient (e.g., the Pearson's coefficient) between pairs of datatypes. In one aspect, the control circuit can be configured toautomatically display a report providing suggestions or other feedbackif the quantified correlation exceeds a particular threshold value. Inone aspect, the control circuit of the surgical hub 5706 can beconfigured to display a report on quantified correlations exceeding aparticular threshold value upon receiving a query or request from auser.

In one exemplification, a surgical hub 5706 can compile information onprocedures that the surgical hub 5706 was utilized in the performanceof, communicate with other surgical hubs 5706 within its network (e.g.,a local network of a medical facility or a number of surgical hubs 5706connected by the cloud 5702), and compare results between type ofsurgical procedures or particular operating theaters, doctors, ordepartments. Each surgical hub 5706 can calculate and analyzeutilization, efficiency, and comparative results (relative to allsurgical hubs 5706 across a hospital network, a region, etc.). Forexample, the surgical hub 5706 can display efficiency and comparativedata, including operating theater downtime, operating theater clean-upand recycle time, step-by-step completion timing for procedures(including highlighting which procedural steps take the longest, forexample), average times for surgeons to complete procedures (includingparsing the completion times on a procedure-by-procedure basis),historical completion times (e.g., for completing classes of procedures,specific procedures, or specific steps within a procedure), and/oroperating theater utilization efficiency (i.e., the time efficiency froma procedure to a subsequent procedure). The data that is accessed andshared across networks by the surgical hubs 5706 can include theanonymized data aggregated into comparison groups, as discussed above.

For example, the surgical hub 5706 can be utilized to perform studies ofperformance by instrument type or cartridge type for various procedures.As another example, the surgical hub 5706 can be utilized to performstudies on the performance of individual surgeons. As yet anotherexample, the surgical hub 5706 can be utilized to perform studies on theeffectiveness of different surgical procedures according to patients'characteristics or disease states.

In another exemplification, a surgical hub 5706 can provide suggestionson streamlining processes based on tracked data. For example, thesurgical hub 5706 can suggest different product mixes according to thelength of certain procedures or steps within a procedure (e.g., suggesta particular item that is more appropriate for long procedure steps),suggest more cost effective product mixes based on the utilization ofitems, and/or suggest kitting or pre-grouping certain items to lowerset-up time. In another exemplification, a surgical hub 5706 can compareoperating theater utilization across different surgical groups in orderto better balance high volume surgical groups with surgical groups thathave more flexible bandwidth. In yet another aspect, the surgical hub5706 could be put in a forecasting mode that would allow the surgicalhub 5706 to monitor upcoming procedure preparation and scheduling, thennotify the administration or department of upcoming bottlenecks or allowthem to plan for scalable staffing. The forecasting mode can be basedon, for example, the anticipated future steps of the current surgicalprocedure that is being performed using the surgical hub 5706, which canbe determined by a situational awareness system.

In another exemplification, a surgical hub 5706 can be utilized as atraining tool to allow users to compare their procedure timing to othertypes of individuals or specific individuals within their department(e.g., a resident could compare his or her timing to a particularspecialist or the average time for a specialist within the hospital) orthe department average times. For example, users could identify whatsteps of a surgical procedure they are spending an inordinate amount oftime on and, thus, what steps of the surgical procedure that they needto improve upon.

In one exemplification, all processing of stored data is performedlocally on each surgical hub 5706. In another exemplification, eachsurgical hub 5706 is part of a distributed computing network, whereineach individual surgical hub 5706 compiles and analyzes its stored dataand then communicates the data to the requesting surgical hub 5706. Adistributed computing network could permit fast parallel processing. Inanother exemplification, each surgical hub 5706 is communicablyconnected to a cloud 5702, which can be configured to receive the datafrom each surgical hub 5706 and then perform the necessary processing(data aggregation, calculations, and so on) on the data.

The process 5350 depicted in FIG. 102 improves the ability to determinewhen procedures are being performed inefficiently by allowing thesurgical hubs 5706 to provide alerts when particular procedures, eitheron a per-procedure basis or as category, are deviating from the expectedtimes to complete the procedures. Such alerts can be provided eitherautomatically or in response to receiving a query. This process 5350also improves the ability to perform studies on what surgicalinstruments and surgical procedure techniques provide the best patientoutcomes by automatically tracking and indexing such data ineasily-retrievable and reportable formats.

Some systems described herein offload the data processing that controlsthe modular devices (e.g., surgical instruments) from the modulardevices themselves to an external computing system (e.g., a surgicalhub) and/or a cloud. However in some exemplifications, some modulardevices can sample data (e.g., from the sensors of the surgicalinstruments) at a faster rate that the rate at which the data can betransmitted to and processed by a surgical hub. As one solution, thesurgical hub and the surgical instruments (or other modular devices) canutilize a distributed computing system where at least a portion of thedata processing is performed locally on the surgical instrument. Thiscan avoid data or communication bottlenecks between the instrument andthe surgical hub by allowing the onboard processor of the surgicalinstrument to handle at least some of the data processing when the datasampling rate is exceeding the rate at which the data can be transmittedto the surgical hub. In some exemplifications, the distributed computingsystem can cease distributing the processing between the surgical huband the surgical instrument and instead have the processing be executedsolely onboard the surgical instrument. The processing can be executedsolely by the surgical instrument in situations where, for example, thesurgical hub needs to allocate its processing capabilities to othertasks or the surgical instrument is sampling data at a very high rateand it has the capabilities to execute all of the data processingitself.

Similarly, the data processing for controlling the modular devices, suchas surgical instruments, can be taxing for an individual surgical hub toperform. If the surgical hub's processing of the control algorithms forthe modular devices cannot keep pace with the use of the modulardevices, then the modular devices will not perform adequately becausetheir control algorithms will either not be updated as needed or theupdates to the control algorithms will lag behind the actual use of theinstrument. As one solution, the surgical hubs can be configured toutilize a distributed computing system where at least a portion of theprocessing is performed across multiple separate surgical hubs. This canavoid data or communication bottlenecks between the modular devices andthe surgical hub by allowing each surgical hub to utilize the networkedprocessing power of multiple surgical hubs, which can increase the rateat which the data is processed and thus the rate at which the controlalgorithm adjustments can be transmitted by the surgical hub to thepaired modular devices. In addition to distributing the computingassociated with controlling the various modular devices connected to thesurgical hubs, a distributed computing system can also dynamically shiftcomputing resources between multiple surgical hubs in order to analyzetracked data in response to queries from users and perform other suchfunctions. The distributed computing system for the surgical hubs canfurther be configured to dynamically shift data processing resourcesbetween the surgical hubs when any particular surgical hub becomesovertaxed.

The modular devices that are communicably connectable to the surgicalhub can include sensors, memories, and processors that are coupled tothe memories and configured to receive and analyze data sensed by thesensors. The surgical hub can further include a processor coupled to amemory that is configured to receive (through the connection between themodular device and the surgical hub) and analyze the data sensed by thesensors of the modular device. In one exemplification, the data sensedby the modular device is processed externally to the modular device(e.g., external to a handle assembly of a surgical instrument) by acomputer that is communicably coupled to the modular device. Forexample, the advanced energy algorithms for controlling the operation ofa surgical instrument can be processed by an external computing system,rather than on a controller embedded in the surgical instrument (such asinstrument using an Advanced RISC Machine (ARM) processor). The externalcomputer system processing the data sensed by the modular devices caninclude the surgical hub to which the modular devices are paired and/ora cloud computing system. In one exemplification, data sampled at aparticular rate (e.g., 20 Ms/sec) and a particular resolution (e.g., 12bits resolution) by a surgical instrument is decimated and thentransmitted over a link to the surgical hub to which the surgicalinstrument is paired. Based on this received data, the control circuitof the surgical hub then determines the appropriate control adjustmentsfor the surgical instrument, such as controlling power for an ultrasonicsurgical instrument or RF electrosurgical instrument, setting motortermination points for a motor-driven surgical instrument, and so on.The control adjustments are then transmitted to the surgical instrumentfor application thereon.

Distributed Processing

FIG. 103 illustrates a diagram of a distributed computing system 5600.The distributed computing system 5600 includes a set of nodes 5602 a,5602 b, 5602 c that are communicably coupled by a distributedmulti-party communication protocol such that they execute a shared ordistributed computer program by passing messages therebetween. Althoughthree nodes 5602 a, 5602 b, 5602 c are depicted, the distributedcomputing system 5600 can include any number of nodes 5602 a, 5602 b,5602 c that are communicably connected together. Each of the nodes 5602a, 5602 b, 5602 c comprises a respective memory 5606 a, 5606 b, 5606 cand processor 5604 a, 5604 b, 5604 c coupled thereto. The processors5604 a, 5604 b, 5604 c execute the distributed multi-party communicationprotocol, which is stored at least partially in the memories 5606 a,5606 b, 5606 c. Each node 5602 a, 5602 b, 5602 c can represent either amodular device or a surgical hub. Therefore, the depicted diagramrepresents aspects wherein various combinations of surgical hubs and/ormodular devices are communicably coupled. In various exemplifications,the distributed computing system 5600 can be configured to distributethe computing associated with controlling the modular device(s) (e.g.,advanced energy algorithms) over the modular device(s) and/or thesurgical hub(s) to which the modular device(s) are connected. In otherwords, the distributed computing system 5600 embodies a distributedcontrol system for controlling the modular device(s) and/or surgicalhub(s).

In some exemplifications, the modular device(s) and surgical hub(s)utilize data compression for their communication protocols. Wirelessdata transmission over sensor networks can consume a significant amountof energy and/or processing resources compared to data computation onthe device itself. Thus data compression can be utilized to reduce thedata size at the cost of extra processing time on the device. In oneexemplification, the distributed computing system 5600 utilizes temporalcorrelation for sensing data, data transformation from one dimension totwo dimension, and data separation (e.g., upper 8 bit and lower 8 bitdata). In another exemplification, the distributed computing system 5600utilizes a collection tree protocol for data collection from differentnodes 5602 a, 5602 b, 5602 c having sensors (e.g., modular devices) to aroot node. In yet another aspect, the distributed computing system 5600utilizes first-order prediction coding to compress the data collected bythe nodes 5602 a, 5602 b, 5602 c having sensors (e.g., modular devices),which can minimize the amount of redundant information and greatlyreduce the amount of data transmission between the nodes 5602 a, 5602 b,5602 c of the network. In yet another exemplification, the distributedcomputing system 5600 is configured to transmit only theelectroencephalogram (EEG) features. In still yet anotherexemplification, the distributed computing system 5600 can be configuredto transmit only the complex data features that are pertinent to thesurgical instrument detection, which can save significant power inwireless transmission. Various other exemplifications can utilizecombinations of the aforementioned data compression techniques and/oradditional techniques of data compression.

FIG. 104 illustrates a logic flow diagram of a process 5650 for shiftingdistributed computing resources. In the following description of the5650, reference should also be made to FIG. 103. In one exemplification,the process 5650 can be executed by a distributed computing systemincluding a control circuit of a surgical hub 206, as depicted in FIG.10 (processor 244), in combination with a control circuit of a secondsurgical hub 206 and/or a control circuit of a modular device, such asthe microcontroller 461 of the surgical instrument depicted FIG. 12, themicrocontroller 620 of the surgical instrument depicted in FIG. 16, thecontrol circuit 710 of the robotic surgical instrument 700 depicted inFIG. 17, the control circuit 760 of the surgical instruments 750, 790depicted in FIGS. 18 and 19, or the controller 838 of the generator 800depicted in FIG. 20. For economy, the following description of theprocess 5650 will be described as being executed by the control circuitsof one or more nodes; however, it should be understood that thedescription of the process 5650 encompasses all of the aforementionedexemplifications.

The control circuits of each node execute 5652 a distributed controlprogram in synchrony. As the distributed control program is beingexecuted across the network of nodes, at least one of the controlcircuits monitors for a command instructing the distributed computingsystem to shift from a first mode, wherein the distributed computingprogram is executed across the network of nodes, to a second mode,wherein the control program is executed by a single node. In oneexemplification, the command can be transmitted by a surgical hub inresponse to the surgical hub's resources being needed for an alternativecomputing task. In another exemplification, the command can betransmitted by a modular device in response to the rate at which thedata is sampled by the modular device outpacing the rate at which thesampled data can be communicated to the other nodes in the network. If acontrol circuit determines that an appropriate command has been received5654, the process 5650 continues along the YES branch and thedistributed computing system 5600 shifts to a single node executing 5656the program. For example, the distributed computing system 5600 shiftsthe distributed computing program from being executed by both a modulardevice and a surgical hub to being executed solely by the modulardevice. As another example, the distributed computing system 5600 shiftsthe distributed computing program from being executed by both a firstsurgical hub and a second surgical hub to being executed solely by thefirst surgical hub. If no control circuit determines that an appropriatecommand has been received 5654, the process continues along the NObranch and the control circuits of the network of nodes continuesexecuting 5652 the distributed computing program across the network ofnodes.

In the event that the program has been shifted to being executed 5656 bya single node, the control circuit of the particular node solelyexecuting the distributed program and/or a control circuit of anothernode within the network (which previously was executing the distributedprogram) monitors for a command instructing the node to re-distributethe processing of the program across the distributed computing system.In other words, the node monitors for a command to re-initiate thedistributed computing system. In one exemplification, the command tore-distribute the processing across the network can be generated whenthe sampling rate of the sensor is less than the data communication ratebetween the modular device and the surgical hub. If a control circuitreceives 5658 an appropriate command to re-distribute the processing,then the process 5650 proceeds along the YES branch and the program isonce again executed 5652 across the node network. If a control circuithas not received 5658 an appropriate command, then the node continuessingularly executing 5656 the program.

The process 5650 depicted in FIG. 104 eliminates data or communicationbottlenecks in controlling modular devices by utilizing a distributedcomputing architecture that can shift computing resources either betweenthe modular devices and surgical hubs or between the surgical hubs asneeded. This process 5650 also improves the modular devices' dataprocessing speed by allowing the processing of the modular devices'control adjustments to be executed at least in part by the modulardevices themselves. This process 5650 also improves the surgical hubs'data processing speed by allowing the surgical hubs to shift computingresources between themselves as necessary.

It can be difficult during video-assisted surgical procedures, such aslaparoscopic procedures, to accurately measure sizes or dimensions offeatures being viewed through a medical imaging device due to distortiveeffects caused by the device's lens. Being able to accurately measuresizes and dimensions during video-assisted procedures could assist asituational awareness system for a surgical hub by allowing the surgicalhub to accurately identify organs and other structures duringvideo-assisted surgical procedures. As one solution, a surgical hubcould be configured to automatically calculate sizes or dimensions ofstructures (or distances between structures) during a surgical procedureby comparing the structures to markings affixed to devices that areintended to be placed within the FOV of the medical imaging deviceduring a surgical procedure. The markings can represent a known scale,which can then be utilized to make measurements by comparing the unknownmeasured length to the known scale.

In one exemplification, the surgical hub is configured to receive imageor video data from a medical imaging device paired with the surgicalhub. When a surgical instrument bearing a calibration scale is withinthe FOV of the medical imaging device, the surgical hub is able tomeasure organs and other structures that are likewise within the medicalimaging device's FOV by comparing the structures to the calibrationscale. The calibration scale can be positioned on, for example, thedistal end of a surgical instrument.

FIG. 105 illustrates a diagram of an imaging system 5800 and a surgicalinstrument 5806 bearing a calibration scale 5808. The imaging system5800 includes a medical imaging device 5804 that is paired with asurgical hub 5802. The surgical hub 5802 can include a patternrecognition system or a machine learning system configured to recognizefeatures in the FOV from image or video data received from the medicalimaging device 5804. In one exemplification, a surgical instrument 5806(e.g., a surgical cutting and stapling instrument) that is intended toenter the FOV of the medical imaging device 5804 during a surgicalprocedure includes a calibration scale 5808 affixed thereon. Thecalibration scale 5808 can be positioned on the exterior surface of thesurgical instrument 5806, for example. In aspects wherein the surgicalinstrument 5806 is a surgical cutting and stapling instrument, thecalibration scale 5808 can be positioned along the exterior surface ofthe anvil. The calibration scale 5808 can include a series of graphicalmarkings separated at fixed and/or known intervals. The distance betweenthe end or terminal markings of the calibration scale 5808 can likewisebe a set distance L (e.g., 35 mm). In one exemplification, the endmarkings (e.g., the most proximal marking and the most distal marking)of the calibration scale 5808 are differentiated from the intermediatemarkings in size, shape, color, or another such fashion. This allows theimage recognition system of the surgical hub 5802 to identify the endmarkings separately from the intermediate markings. The distance(s)between the markings can be stored in a memory or otherwise retrieved bythe surgical hub 5802. The surgical hub 5802 can thus measure lengths orsizes of structures relative to the provided calibration scale 5808. InFIG. 105, for example, the surgical hub 5802 can calculate that theartery 5810 a has a diameter or width of D1 (e.g., 17.0 mm), the vein5810 b has a diameter or width of D2 (e.g., 17.5 mm), and the distancebetween the vessels is D3 (e.g., 20 mm) by comparing the visualizationsof these distances D1, D2, D3 to the known length L of the calibrationscale 5808 positioned on the surgical instrument 5806 within the FOV ofthe medical imaging device 5804. The surgical hub 5802 can recognize thepresence of the vessels 5810 a, 5810 b via an image recognition system.In some exemplifications, the surgical hub 5802 can be configured toautomatically measure and display the size or dimension of detectedfeatures within the FOV of the medical imaging device 5804. In someexemplifications, the surgical hub 5802 can be configured to calculatethe distance between various points selected by a user on an interactivedisplay that is paired with the surgical hub 5802.

The imaging system 5800 configured to detect and measure sizes accordingto a calibration scale 5808 affixed to surgical instruments 5806provides the ability to accurately measure sizes and distances duringvideo-assisted procedures. This can make it easier for surgeons toprecisely perform video-assisted procedures by compensating for theoptically distortive effects inherent in such procedures.

User Feedback Methods

The present disclosure provides user feedback techniques. In one aspect,the present disclosure provides a display of images through a medicalimaging device (e.g., laparoscope, endoscope, thoracoscope, and thelike). A medical imaging device comprises an optical component and animage sensor. The optical component may comprise a lens and a lightsource, for example. The image sensor may be implemented as a chargecoupled device (CCD) or complementary oxide semiconductor (CMOS). Theimage sensor provides image data to electronic components in thesurgical hub. The data representing the images may be transmitted bywired or wireless communication to display instrument status, feedbackdata, imaging data, and highlight tissue irregularities and underliningstructures. In another aspect, the present disclosure provides wired orwireless communication techniques for communicating user feedback from adevice (e.g., instrument, robot, or tool) to the surgical hub. Inanother aspect, the present disclosure provides identification and usagerecording and enabling. Finally, in another aspect, the surgical hub mayhave a direct interface control between the device and the surgical hub.

Through Laparoscope Monitor Display Of Data

In various aspects, the present disclosure provides through laparoscopemonitor display of data. The through laparoscope monitor display of datamay comprise displaying a current instrument alignment to adjacentprevious operations, cooperation between local instrument displays andpaired laparoscope display, and display of instrument specific dataneeded for efficient use of an end-effector portion of a surgicalinstrument. Each of these techniques is described hereinbelow.

Display of Current Instrument Alignment to Adjacent Previous Operations

In one aspect, the present disclosure provides alignment guidancedisplay elements that provide the user information about the location ofa previous firing or actuation and allow them to align the nextinstrument use to the proper position without the need for seeing theinstrument directly. In another aspect, the first device and seconddevice and are separate; the first device is within the sterile fieldand the second is used from outside the sterile field.

During a colorectal transection using a double-stapling technique it isdifficult to align the location of an anvil trocar of a circular staplerwith the center of an overlapping staple line. During the procedure, theanvil trocar of the circular stapler is inserted in the rectum below thestaple line and a laparoscope is inserted in the peritoneal cavity abovethe staple line. Because the staple line seals off the colon, there isno light of sight to align the anvil trocar using the laparoscope tooptically align the anvil trocar insertion location relative to thecenter of the staple line overlap.

One solution provides a non-contact sensor located on the anvil trocarof the circular stapler and a target located at the distal end of thelaparoscope. Another solution provides a non-contact sensor located atthe distal end of the laparoscope and a target located on the anviltrocar of the circular stapler.

A surgical hub computer processor receives signals from the non-contactsensor and displays a centering tool on a screen indicating thealignment of the anvil trocar of the circular stapler and the overlapportion at the center of staple line. The screen displays a first imageof the target staple line with a radius around the staple line overlapportion and a second image of the projected anvil trocar location. Theanvil trocar and the overlap portion at the center of staple line arealigned when the first and second images overlap.

In one aspect, the present disclosure provides a surgical hub foraligning a surgical instrument. The surgical hub comprises a processorand a memory coupled to the processor. The memory stores instructionsexecutable by the processor to receive image data from an image sensor,generate a first image based on the image data, display the first imageon a monitor coupled to the processor, receive a signal from anon-contact sensor, generate a second image based on the position of thesurgical device, and display the second image on the monitor. The firstimage data represents a center of a staple line seal. The first imagerepresents a target corresponding to the center of the staple line. Thesignal is indicative of a position of a surgical device relative to thecenter of the staple line. The second image represents the position ofthe surgical device along a projected path of the surgical device towardthe center of the staple line.

In one aspect, the center of the staple line is a double-staple overlapportion zone. In another aspect, the image sensor receives an image froma laparoscope. In another aspect, the surgical device is a circularstapler comprising an anvil trocar and the non-contact sensor isconfigured to detect the location of the anvil trocar relative to thecenter of the staple line seal. In another aspect, the non-contactsensor is an inductive sensor. In another aspect, the non-contact sensoris a capacitive sensor.

In various aspects, the present disclosure provides a control circuit toalign the surgical instrument as described above. In various aspects,the present disclosure provides a non-transitory computer readablemedium storing computer readable instructions which, when executed,causes a machine to align the surgical instrument as described above.

This technique provides better alignment of a surgical instrument suchas a circular stapler about the overlap portion of the staple line toproduce a better seal and cut after the circular stapler is fired.

In one aspect, the present disclosure provides a system for displayingthe current instrument alignment relative to prior adjacent operations.The instrument alignment information may be displayed on a monitor orany suitable electronic device suitable for the visual presentation ofdata whether located locally on the instrument or remotely from theinstrument through the modular communication hub. The system may displaythe current alignment of a circular staple cartridge to an overlappingstaple line, display the current alignment of a circular staplecartridge relative to a prior linear staple line, and/or show theexisting staple line of the linear transection and an alignment circleindicating an appropriately centered circular staple cartridge. Each ofthese techniques is described hereinbelow.

In one aspect, the present disclosure provides alignment guidancedisplay elements that provide the user information about the location ofa previous firing or actuation of a surgical instrument (e.g., surgicalstapler) and allows the user to align the next instrument use (e.g.,firing or actuation of the surgical stapler) to the proper positionwithout the need for seeing the instrument directly. In another aspect,the present disclosure provides a first device and a second device thatis separate from the first device. The first device is located within asterile field and the second is located outside the sterile field. Thetechniques described herein may be applied to surgical staplers,ultrasonic instruments, electrosurgical instruments, combinationultrasonic/electrosurgical instruments, and/or combination surgicalstapler/electrosurgical instruments.

FIG. 106 illustrates a diagram 6000 of a surgical instrument 6002centered on a staple line 6003 using the benefit of centering tools andtechniques described in connection with FIGS. 23-33, according to oneaspect of the present disclosure. As used in the following descriptionof FIGS. 107-117 a staple line may include multiple rows of staggeredstaples and typically includes two or three rows of staggered staples,without limitation. The staple line may be a double staple line 6004formed using a double-stapling technique as described in connection withFIGS. 107-111 or may be a linear staple line 6052 formed using a lineartransection technique as described in connection with FIGS. 112-117. Thecentering tools and techniques described herein can be used to align theinstrument 6002 located in one part of the anatomy with either thestaple line 6003 or with another instrument located in another part ofthe anatomy without the benefit of a line of sight. The centering toolsand techniques include displaying the current alignment of theinstrument 6002 adjacent to previous operations. The centering tool isuseful, for example, during laparoscopic-assisted rectal surgery thatemploy a double-stapling technique, also referred to as an overlappingstapling technique. In the illustrated example, during alaparoscopic-assisted rectal surgical procedure, a circular stapler 6002is positioned in the rectum 6006 of a patient within the pelvic cavity6008 and a laparoscope is positioned in the peritoneal cavity.

During the laparoscopic-assisted rectal surgery, the colon is transectedand sealed by the staple line 6003 having a length “1.” Thedouble-stapling technique uses the circular stapler 6002 to create anend-to-end anastomosis and is currently used widely inlaparoscopic-assisted rectal surgery. For a successful formation of ananastomosis using a circular stapler 6002, the anvil trocar 6010 of thecircular stapler 6002 should be aligned with the center “½” of thestaple line 6003 transection before puncturing through the center “½” ofthe staple line 6003 and/or fully clamping on the tissue before firingthe circular stapler 6002 to cut out the staple overlap portion 6012 andforming the anastomosis. Misalignment of the anvil trocar 6010 to thecenter of the staple line 6003 transection may result in a high rate ofanastomotic failures. This technique may be applied to ultrasonicinstruments, electrosurgical instruments, combinationultrasonic/electrosurgical instruments, and/or combination surgicalstapler/electrosurgical instruments. Several techniques are nowdescribed for aligning the anvil trocar 6010 of the circular stapler6002 to the center “½” of the staple line 6003.

In one aspect, as described in FIGS. 107-109 and with reference also toFIGS. 1-11 to show interaction with an interactive surgical system 100environment including a surgical hub 106, 206, the present disclosureprovides an apparatus and method for detecting the overlapping portionof the double staple line 6004 in a laparoscopic-assisted rectal surgerycolorectal transection using a double stapling technique. Theoverlapping portion of the double staple line 6004 is detected and thecurrent location of the anvil trocar 6010 of the circular stapler 6002is displayed on a surgical hub display 215 coupled to the surgical hub206. The surgical hub display 215 displays the alignment of a circularstapler 6002 cartridge relative to the overlapping portion of the doublestaple line 6004, which is located at the center of the double stapleline 6004. The surgical hub display 215 displays a circular imagecentered around the overlapping double staple line 6004 region to ensurethat the overlapping portion of the double staple line 6004 is containedwithin the knife of the circular stapler 6002 and therefore removedfollowing the circular firing. Using the display, the surgeon aligns theanvil trocar 6010 with the center of the double staple line 6004 beforepuncturing through the center of the double staple line 6004 and/orfully clamping on the tissue before firing the circular stapler 6002 tocut out the staple overlap portion 6012 and form the anastomosis.

FIGS. 107-109 illustrate a process of aligning an anvil trocar 6010 of acircular stapler 6022 to a staple overlap portion 6012 of a doublestaple line 6004 created by a double-stapling technique, according toone aspect of the present disclosure. The staple overlap portion 6012 iscentered on the double staple line 6004 formed by a double-staplingtechnique. The circular stapler 6002 is inserted into the colon 6020below the double staple line 6004 and a laparoscope 6014 is insertedthrough the abdomen above the double staple line 6004. A laparoscope6014 and a non-contact sensor 6022 are used to determine an anvil trocar6010 location relative to the staple overlap portion 6012 of the doublestaple line 6004. The laparoscope 6014 includes an image sensor togenerate an image of the double staple line 6004. The image sensor imageis transmitted to the surgical hub 206 via the imaging module 238. Thesensor 6022 generates a signal 6024 that detects the metal staples usinginductive or capacitive metal sensing technology. The signal 6024 variesbased on the position of the anvil trocar 6010 relative to the stapleoverlap portion 6004. A centering tool 6030 presents an image 6038 ofthe double staple line 6004 and a target alignment ring 6032circumscribing the image 6038 of the double staple line 6004 centeredabout an image 6040 of the staple overlap portion 6012 on the surgicalhub display 215. The centering tool 6030 also presents a projected cutpath 6034 of an anvil knife of the circular stapler 6002. The alignmentprocess includes displaying an image 6038 of the double staple line 6004and a target alignment ring 6032 circumscribing the image 6038 of thedouble staple line 6004 centered on the image 6040 of the staple overlapportion 6012 to be cut out by the circular knife of the circular stapler6002. Also displayed is an image of a crosshair 6036 (X) relative to theimage 6040 of the staple overlap portion 6012.

FIG. 107 illustrates an anvil trocar 6010 of a circular stapler 6002that is not aligned with a staple overlap portion 6012 of a doublestaple line 6004 created by a double-stapling technique. The doublestaple line 6004 has a length “l” and the staple overlap portion 6012 islocated midway along the double staple line 6004 at “½.” As shown inFIG. 107, the circular stapler 6002 is inserted into a section of thecolon 6020 and is positioned just below the double staple line 6004transection. A laparoscope 6014 is positioned above the double stapleline 6004 transection and feeds an image of the double staple line 6004and staple overlap portion 6012 within the field of view 6016 of thelaparoscope 6014 to the surgical hub display 215. The position of theanvil trocar 6010 relative to the staple overlap portion 6012 isdetected by a sensor 6022 located on the circular stapler 6002. Thesensor 6022 also provides the position of the anvil trocar 6010 relativeto the staple overlap portion 6012 to the surgical hub display 215.

As shown in In FIG. 107, the projected path 6018 of the anvil trocar6010 is shown along a broken line to a position marked by an X. As shownin FIG. 107, the projected path 6018 of the anvil trocar 6010 is notaligned with the staple overlap portion 6012. Puncturing the anviltrocar 6010 through the double staple line 6004 at a point off thestaple overlap portion 6012 could lead to an anastomotic failure. Usingthe anvil trocar 6010 centering tool 6030 described in FIG. 109, thesurgeon can align the anvil trocar 6010 with the staple overlap portion6012 using the images displayed by the centering tool 6030. For example,in one implementation, the sensor 6022 is an inductive sensor. Since thestaple overlap portion 6012 contains more metal than the rest of thelateral portions of the double staple line 6004, the signal 6024 ismaximum when the sensor 6022 is aligned with and proximate to the stapleoverlap portion 6012. The sensor 6022 provides a signal to the surgicalhub 206 that indicates the location of the anvil trocar 6010 relative tothe staple overlap portion 6012. The output signal is converted to avisualization of the location of the anvil trocar 6010 relative to thestaple overlap portion 6012 that is displayed on the surgical hubdisplay 215.

As shown in FIG. 108, the anvil trocar 6010 is aligned with the stapleoverlap portion 6012 at the center of the double staple line 6004created by a double-stapling technique. The surgeon can now puncture theanvil trocar 6010 through the staple overlap portion 6012 of the doublestaple line 6004 and/or fully clamp on the tissue before firing thecircular stapler 6002 to cut out the staple overlap portion 6012 andform an anastomosis.

FIG. 109 illustrates a centering tool 6030 displayed on a surgical hubdisplay 215, the centering tool providing a display of a staple overlapportion 6012 of a double staple line 6004 created by a double-stalingtechnique, where the anvil trocar 6010 is not aligned with the stapleoverlap portion 6012 of the double staple line 6004 as shown in FIG.107. The centering tool 6030 presents an image 6038 on the surgical hubdisplay 215 of the double staple line 6004 and an image 6040 of thestaple overlap portion 6012 received from the laparoscope 6014. A targetalignment ring 6032 centered about the image 6040 of the staple overlapportion 6012 circumscribes the image 6038 of the double staple line 6004to ensure that the staple overlap portion 6012 is located within thecircumference of the projected cut path 6034 of the circular stapler6002 knife when the projected cut path 6034 is aligned to the targetalignment ring 6032. The crosshair 6036 (X) represents the location ofthe anvil trocar 6010 relative to the staple overlap portion 6012. Thecrosshair 6036 (X) indicates the point through the double staple line6004 where the anvil trocar 6010 would puncture if it were advanced fromits current location.

As shown in FIG. 109, the anvil trocar 6010 is not aligned with thedesired puncture through location designated by the image 6040 of thestaple overlap portion 6012. To align the anvil trocar 6010 with thestaple overlap portion 6012 the surgeon manipulates the circular stapler6002 until the projected cut path 6034 overlaps the target alignmentring 6032 and the crosshair 6036 (X) is centered on the image 6040 ofthe staple overlap portion 6012. Once alignment is complete, the surgeonpunctures the anvil trocar 6010 through the staple overlap portion 6012of the double staple line 6004 and/or fully clamps on the tissue beforefiring the circular stapler 6002 to cut out the staple overlap portion6012 and form the anastomosis.

As discussed above, the sensor 6022 is configured to detect the positionof the anvil trocar 6010 relative to the staple overlap portion 6012.Accordingly, the location of the crosshair 6036 (X) presented on thesurgical hub display 215 is determined by the surgical stapler sensor6022. In another aspect, the sensor 6022 may be located on thelaparoscope 6014, where the sensor 6022 is configured to detect the tipof the anvil trocar 6010. In other aspects, the sensor 6022 may belocated either on the circular stapler 6022 or the laparoscope 6014, orboth, to determine the location of the anvil trocar 6010 relative to thestaple overlap portion 6012 and provide the information to the surgicalhub display 215 via the surgical hub 206.

FIGS. 110 and 111 illustrate a before image 6042 and an after image 6043of a centering tool 6030, according to one aspect of the presentdisclosure. FIG. 110 illustrates an image of a projected cut path 6034of an anvil trocar 6010 and circular knife before alignment with thetarget alignment ring 6032 circumscribing the image 6038 of the doublestaple line 6004 over the image 6040 of the staple overlap portion 6040presented on a surgical hub display 215. FIG. 111 illustrates an imageof a projected cut path 6034 of an anvil trocar 6010 and circular knifeafter alignment with the target alignment ring 6032 circumscribing theimage 6038 of the double staple line 6004 over the image 6040 of thestaple overlap portion 6040 presented on a surgical hub display 215. Thecurrent location of the anvil trocar 6010 is marked by the crosshair6036 (X), which as shown in FIG. 110, is positioned below and to theleft of center of the image 6040 of the staple overlap portion 6040. Asshown in FIG. 111, as the surgeon moves the anvil trocar 6010 of thealong the projected path 6046, the projected cut path 6034 aligns withthe target alignment ring 6032. The target alignment ring 6032 may bedisplayed as a greyed out alignment circle overlaid over the currentposition of the anvil trocar 6010 relative to the center of the doublestaple line 6004, for example. The image may include indication marks toassist the alignment process by indication which direction to move theanvil trocar 6010. The target alignment ring 6032 may be shown in bold,change color or may be highlighted when it is located within apredetermined distance of center within acceptable limits.

In another aspect, the sensor 6022 may be configured to detect thebeginning and end of a linear staple line in a colorectal transectionand to provide the position of the current location of the anvil trocar6010 of the circular stapler 6002. In another aspect, the presentdisclosure provides a surgical hub display 215 to present the circularstapler 6002 centered on the linear staple line, which would create evendog ears, and to provide the current position of the anvil trocar 6010to allow the surgeon to center or align the anvil trocar 6010 as desiredbefore puncturing and/or fully clamping on tissue prior to firing thecircular stapler 6002.

In another aspect, as described in FIGS. 112-114 and with reference alsoto FIGS. 1-11 to show interaction with an interactive surgical system100 environment including a surgical hub 106, 206, in alaparoscopic-assisted rectal surgery colorectal transection using alinear stapling technique, the beginning and end of the linear stapleline 6052 is detected and the current location of the anvil trocar 6010of the circular stapler 6002 is displayed on a surgical hub display 215coupled to the surgical hub 206. The surgical hub display 215 displays acircular image centered on the double staple line 6004, which wouldcreate even dog ears and the current position of the anvil trocar 6002is displayed to allow the surgeon to center or align the anvil trocar6010 before puncturing through the linear staple line 6052 and/or fullyclamping on the tissue before firing the circular stapler 6002 to cutout the center 6050 of the linear staple line 6052 to form ananastomosis.

FIGS. 112-114 illustrate a process of aligning an anvil trocar 6010 of acircular stapler 6022 to a center 6050 of a linear staple line 6052created by a linear stapling technique, according to one aspect of thepresent disclosure. FIGS. 112 and 113 illustrate a laparoscope 6014 anda sensor 6022 located on the circular stapler 6022 to determine thelocation of the anvil trocar 6010 relative to the center 6050 of thelinear staple line 6052. The anvil trocar 6010 and the sensor 6022 isinserted into the colon 6020 below the linear staple line 6052 and thelaparoscope 6014 is inserted through the abdomen above the linear stapleline 6052.

FIG. 112 illustrates the anvil trocar 6010 out of alignment with thecenter 6050 of the linear staple line 6052 and FIG. 113 illustrates theanvil trocar 6010 in alignment with the center 6050 of the linear stapleline 6052. The sensor 6022 is used to detect the center 6050 of thelinear staple line 6052 to align the anvil trocar 6010 with the centerof the staple line 6052. In one aspect, the center 6050 of the linearstaple line 6052 may be located by moving the circular stapler 6002until one end of the linear staple line 6052 is detected. An end may bedetected when there are no more staples in the path of the sensor 6022.Once one of the ends is reached, the circular stapler 6002 is movedalong the linear staple line 6053 until the opposite end is detected andthe length “1” of the linear staple line 6052 is determined bymeasurement or by counting individual staples by the sensor 6022. Oncethe length of the linear staple line 6052 is determined, the center 6050of the linear staple line 6052 can be determined by dividing the lengthby two “^(1/) _(2.”)

FIG. 114 illustrates a centering tool 6054 displayed on a surgical hubdisplay 215, the centering tool providing a display of a linear stapleline 6052, where the anvil trocar 6010 is not aligned with the stapleoverlap portion 6012 of the double staple line 6004 as shown in FIG.112. The surgical hub display 215 presents a standard reticle field ofview 6056 of the laparoscopic field of view 6016 of the linear stapleline 6052 and a portion of the colon 6020. The surgical hub display 215also presents a target ring 6062 circumscribing the image center of thelinear staple line and a projected cut path 6064 of the anvil trocar andcircular knife. The crosshair 6066 (X) represents the location of theanvil trocar 6010 relative to the center 6050 of the linear staple line6052. The crosshair 6036 (X) indicates the point through the linearstaple line 6052 where the anvil trocar 6010 would puncture if it wereadvanced from its current location.

As shown in FIG. 114, the anvil trocar 6010 is not aligned with thedesired puncture through location designated by the offset between thetarget ring 6062 and the projected cut path 6064. To align the anviltrocar 6010 with the center 6050 of the linear staple line 6052 thesurgeon manipulates the circular stapler 6002 until the projected cutpath 6064 overlaps the target alignment ring 6062 and the crosshair 6066(X) is centered on the image 6040 of the staple overlap portion 6012.Once alignment is complete, the surgeon punctures the anvil trocar 6010through the center 6050 of the linear staple line 6052 and/or fullyclamps on the tissue before firing the circular stapler 6002 to cut outthe staple overlap portion 6012 and forming the anastomosis.

In one aspect, the present disclosure provides an apparatus and methodfor displaying an image of an linear staple line 6052 using a lineartransection technique and an alignment ring or bullseye positioned as ifthe anvil trocar 6010 of the circular stapler 6022 were centeredappropriately along the linear staple line 6052. The apparatus displaysa greyed out alignment ring overlaid over the current position of theanvil trocar 6010 relative to the center 6050 of the linear staple line6052. The image may include indication marks to assist the alignmentprocess by indication which direction to move the anvil trocar 6010. Thealignment ring may be bold, change color or highlight when it is locatedwithin a predetermined distance of centered.

With reference now to FIGS. 112-115, FIG. 115 is an image 6080 of astandard reticle field view 6080 of a linear staple line 6052transection of a surgical as viewed through a laparoscope 6014 displayedon the surgical hub display 215, according to one aspect of the presentdisclosure. In a standard reticle view 6080, it is difficult to see thelinear staple line 6052 in the standard reticle field of view 6056.Further, there are no alignment aids to assist with alignment andintroduction of the anvil trocar 6010 to the center 6050 of the linearstaple line. This view does not show an alignment circle or alignmentmark to indicate if the circular stapler is centered appropriately anddoes not show the projected trocar path. In this view it also difficultto see the staples because there is no contrast with the backgroundimage.

With reference now to FIGS. 112-116, FIG. 116 is an image 6082 of alaser-assisted reticle field of view 6072 of the surgical site shown inFIG. 115 before the anvil trocar 6010 and circular knife of the circularstapler 6002 are aligned to the center 6050 of the linear staple line6052, according to one aspect of the present disclosure. Thelaser-assisted reticle field of view 6072 provides an alignment mark orcrosshair 6066 (X), currently positioned below and to the left of centerof the linear staple line 6052 showing the projected path of the anviltrocar 6010 to assist positioning of the anvil trocar 6010. In additionto the projected path marked by the crosshair 6066 (X) of the anviltrocar 6010, the image 6082 displays the staples of the linear stapleline 6052 in a contrast color to make them more visible against thebackground. The linear staple line 6052 is highlighted and a bullseyetarget 6070 is displayed over the center 6050 of the linear staple line6052. Outside of the laser-assisted reticle field of view 6072, theimage 6082 displays a status warning box 6068, a suggestion box 6074, atarget ring 6062, and the current alignment position of the anvil trocar6010 marked by the crosshair 6066 (X) relative to the center 6050 of thelinear staple line 6052. As shown in FIG. 116, the status warning box6068 indicates that the trocar is “MISALIGNED” and the suggestion box6074 states “Adjust trocar to center staple line.”

With reference now to FIGS. 112-117, FIG. 117 is an image 6084 of alaser-assisted reticle field of view 6072 of the surgical site shown inFIG. 116 after the anvil trocar 6010 and circular knife of the circularstapler 6002 are aligned to the center 6050 of the linear staple line6052, according to one aspect of the present disclosure. Thelaser-assisted reticle field of view 6072 provides an alignment mark orcrosshair 6066 (X), currently positioned below and to the left of centerof the linear staple line 6052 showing the projected path of the anviltrocar 6010 to assist positioning of the anvil trocar 6010. In additionto the projected path marked by the crosshair 6066 (X) of the anviltrocar 6010, the image 6082 displays the staples of the linear stapleline 6052 in a contrast color to make them more visible against thebackground. The linear staple line 6052 is highlighted and a bullseyetarget 6070 is displayed over the center 6050 of the linear staple line6052. Outside of the laser-assisted reticle field of view 6072, theimage 6082 displays a status warning box 6068, a suggestion box 6074, atarget ring 6062, and the current alignment position of the anvil trocar6010 marked by the crosshair 6066 (X) relative to the center 6050 of thelinear staple line 6052. As shown in FIG. 116, the status warning box6068 indicates that the trocar is “MISALIGNED” and the suggestion box6074 states “Adjust trocar to center staple line.”

FIG. 117 is a laser assisted view of the surgical site shown in FIG. 116after the anvil trocar 6010 and circular knife are aligned to the centerof the staple line 6052. In this view, inside the field of view 6072 ofthe laser-assisted reticle, the alignment mark crosshair 6066 (X) ispositioned over the center of the staple line 6052 and the highlightedbullseye target to indicate alignment of the trocar to the center of thestaple line. Outside the field of view 6072 of the laser-assistedreticle, the status warning box indicates that the trocar is “ALIGNED”and the suggestion is “Proceed trocar introduction.”

FIG. 118 illustrates a non-contact inductive sensor 6090 implementationof the non-contact sensor 6022 to determine an anvil trocar 6010location relative to the center of a staple line transection (the stapleoverlap portion 6012 of the double staple line 6004 shown in FIGS.107-108 or the center 6050 of the linear staple line 6052 shown in FIGS.112-113, for example), according to one aspect of the presentdisclosure. The non-contact inductive sensor 6090 includes an oscillator6092 that drives an inductive coil 6094 to generate an electromagneticfield 6096. As a metal target 6098, such as a metal staple, isintroduced into the electromagnetic field 6096, eddy currents 6100induced in the target 6098 oppose the electromagnetic field 6096 and thereluctance shifts and the amplitude of the oscillator voltage 6102drops. An amplifier 6104 amplifies the oscillator voltage 6102 amplitudeas it changes.

With reference now to FIGS. 1-11 to show interaction with an interactivesurgical system 100 environment including a surgical hub 106, 206 andalso to FIGS. 106-117, the inductive sensor 6090 is a non-contactelectronic sensor. It can be used for positioning and detecting metalobjects such as the metal staples in the staple lines 6003, 6004, 6052described above. The sensing range of the inductive sensor 6090 isdependent on the type of metal being detected. Because the inductivesensor 6090 is a non-contact sensor, it can detect metal objects acrossa stapled tissue barrier. The inductive sensor 6090 can be locatedeither on the circular stapler 6002 to detect staples in the staplelines 6003, 6004, 6052, detect the location of the distal end of thelaparoscope 6014, or it may be located on the laparoscope 6014 to detectthe location of the anvil trocar 6010. A processor or control circuitlocated either in the circular stapler 6002, laparoscope 6014, orcoupled to the surgical hub 206 receives signals from the inductivesensors 6090 and can be employed to display the centering tool on thesurgical hub display 215 to determine the location of the anvil trocar6010 relative to either staple overlap portion 6012 of a double stapleline 6004 or the center 6050 of a linear staple line 6052.

In one aspect, the distal end of the laparoscope 6014 may be detected bythe inductive sensor 6090 located on the circular stapler 6002. Theinductive sensor 6090 may detect a metal target 6098 positioned on thedistal end of the laparoscope 6014. Once the laparoscope 6014 is alignedwith the center 6050 of the linear staple line 6052 or the stapleoverlap portion 6012 of the double staple line 6004, a signal from theinductive sensor 6090 is transmitted to circuits that convert thesignals from the inductive sensor 6090 to present an image of therelative alignment of the laparoscope 6014 with the anvil trocar 6010 ofthe circular stapler 6002.

FIGS. 119A and 119B illustrate one aspect of a non-contact capacitivesensor 6110 implementation of the non-contact sensor 6022 to determinean anvil trocar 6010 location relative to the center of a staple linetransection (the staple overlap portion 6012 of the double staple line6004 shown in FIGS. 107-108 or the center 6050 of the linear staple line6052 shown in FIGS. 112-113, for example), according to one aspect ofthe present disclosure. FIG. 119A shows the non-contact capacitivesensor 6110 without a nearby metal target and FIG. 119B shows thenon-contact capacitive sensor 6110 near a metal target 6112. Thenon-contact capacitive sensor 6110 includes capacitor plates 6114, 6116housed in a sensing head and establishes field lines 6118 when energizedby an oscillator waveform to define a sensing zone. FIG. 119A shows thefield lines 6118 when no target is present proximal to the capacitorplates 6114, 6116. FIG. 119B shows a ferrous or nonferrous metal target6120 in the sensing zone. As the metal target 6120 enters the sensingzone, the capacitance increases causing the natural frequency to shifttowards the oscillation frequency causing amplitude gain. Because thecapacitive sensor 6110 is a non-contact sensor, it can detect metalobjects across a stapled tissue barrier. The capacitive sensor 6110 canbe located either on the circular stapler 6002 to detect the staplelines 6004, 6052 or the location of the distal end of the laparoscope6014 or the capacitive sensor 6110 may be located on the laparoscope6014 to detect the location of the anvil trocar 6010. A processor orcontrol circuit located either in the circular stapler 6002, thelaparoscope 6014, or coupled to the surgical hub 206 receives signalsfrom the capacitive sensor 6110 to present an image of the relativealignment of the laparoscope 6014 with the anvil trocar 6010 of thecircular stapler 6002.

FIG. 120 is a logic flow diagram 6130 of a process depicting a controlprogram or a logic configuration for aligning a surgical instrument,according to one aspect of the present disclosure. With reference toFIGS. 1-11 to show interaction with an interactive surgical system 100environment including a surgical hub 106, 206 and also to FIGS. 106-119,the surgical hub 206 comprises a processor 244 and a memory 249 coupledto the processor 244. The memory 249 stores instructions executable bythe processor 244 to receive 6132 image data from a laparoscope imagesensor, generate 6134 a first image based on the image data, display6136 the first image on a surgical hub display 215 coupled to theprocessor 244, receive 6138 a signal from a non-contact sensor 6022, thesignal indicative of a position of a surgical device, generate a secondimage based on the signal indicative of the position of the surgicaldevice, e.g., the anvil trocar 6010 and display 6140 the second image onthe surgical hub display 215. The first image data represents a center6044, 6050 of a staple line 6004, 6052 seal. The first image representsa target corresponding to the center 6044, 6050 of the staple line 6004,6052 seal. The signal is indicative of a position of a surgical device,e.g., an anvil trocar 6010, relative to the center 6044, 6050 of thestaple line 6004, 6052 seal. The second image represents the position ofthe surgical device, e.g., an anvil trocar 6010, along a projected path6018 of the surgical device, e.g., an anvil trocar 6010, toward thecenter 6044, 6050 of the staple line 6004, 6052 seal.

In one aspect, the center 6044 of the double staple line 6004 sealdefines a staple overlap portion 6012. In another aspect, an imagesensor receives an image from a medical imaging device. In anotheraspect, the surgical device is a circular stapler 6002 comprising ananvil trocar 6010 and the non-contact sensor 6022 is configured todetect the location of the anvil trocar 6010 relative to the center 6044of the double staple line 6004 seal. In another aspect, the non-contactsensor 6022 is an inductive sensor 6090. In another aspect, thenon-contact sensor 6022 is a capacitive sensor 6110. In one aspect, thestaple line may be a linear staple line 6052 formed using a lineartransection technique.

Cooperation Between Local Instrument Displays And Paired Imaging DeviceDisplay

In one aspect, the present disclosure provides an instrument including alocal display, a hub having an operating room (OR), or operatingtheater, display separate from the instrument display. When theinstrument is linked to the surgical hub, the secondary display on thedevice reconfigures to display different information than when it isindependent of the surgical hub connection. In another aspect, someportion of the information on the secondary display of the instrument isthen displayed on the primary display of the surgical hub. In anotheraspect, image fusion allowing the overlay of the status of a device, theintegration landmarks being used to interlock several images and atleast one guidance feature are provided on the surgical hub and/orinstrument display. Techniques for overlaying or augmenting imagesand/or text from multiple image/text sources to present composite imageson a single display are described hereinbelow in connection with FIGS.129-137 and FIGS. 147-151.

In another aspect, the present disclosure provides cooperation betweenlocal instrument displays and a paired laparoscope display. In oneaspect, the behavior of a local display of an instrument changes when itsenses the connectable presence of a global display coupled to thesurgical hub. In another aspect, the present disclosure provides 360°composite top visual field of view of a surgical site to avoidcollateral structures. Each of these techniques is describedhereinbelow.

During a surgical procedure, the surgical site is displayed on a remote“primary” surgical hub display. During a surgical procedure, surgicaldevices track and record surgical data and variables (e.g., surgicalparameters) that are stored in the instrument (see FIGS. 12-19 forinstrument architectures comprising processors, memory, controlcircuits, storage, etc.). The surgical parameters include force-to-fire(FTF), force-to-close (FTC), firing progress, tissue gap, power level,impedance, tissue compression stability (creep), and the like. Usingconventional techniques during the procedure the surgeon needs to watchtwo separate displays. Providing image/text overlay is thus advantageousbecause during the procedure the surgeon can watch a single displaypresenting the overlaid image/text information.

One solution detects when the surgical device (e.g., instrument) isconnected to the surgical hub and then display a composite image on theprimary display that includes a field of view of the surgical sitereceived from a first instrument (e.g., medical imaging device such as,e.g., laparoscope, endoscope, thoracoscope, and the like) augmented bysurgical data and variables received from a second instrument (e.g., asurgical stapler) to provide pertinent images and data on the primarydisplay.

During a surgical procedure the surgical site is displayed as a narrowfield of view of a medical imaging device on the primary surgical hubdisplay. Items outside the current field of view, collateral structures,cannot be viewed without moving the medical imaging device.

One solution provides a narrow field of view of the surgical site in afirst window of the display augmented by a wide field of view of thesurgical site in a separate window of the display. This provides acomposite over head field of view mapped using two or more imagingarrays to provide an augmented image of multiple perspective views ofthe surgical site.

In one aspect, the present disclosure provides a surgical hub,comprising a processor and a memory coupled to the processor. The memorystores instructions executable by the processor to detect a surgicaldevice connection to the surgical hub, transmit a control signal to thedetected surgical device to transmit to the surgical hub surgicalparameter data associated with the detected device, receive the surgicalparameter data, receive image data from an image sensor, and display, ona display coupled to the surgical hub, an image received from the imagesensor in conjunction with the surgical parameter data received from thesurgical device.

In another aspect, the present disclosure provides a surgical hub,comprising a processor and a memory coupled to the processor. The memorystores instructions executable by the processor to receive first imagedata from a first image sensor, receive second image data from a secondimage sensor, and display, on a display coupled to the surgical hub, afirst image corresponding to the first field of view and a second imagecorresponding to the second field of view. The first image datarepresents a first field of view and the second image data represents asecond field of view.

In one aspect, the first field of view is a narrow angle field of viewand the second field of view is a wide angle field of view. In anotheraspect, the memory stores instructions executable by the processor toaugment the first image with the second image on the display. In anotheraspect, the memory stores instructions executable by the processor tofuse the first image and the second image into a third image and displaya fused image on the display. In another aspect, the fused image datacomprises status information associated with a surgical device, an imagedata integration landmark to interlock a plurality of images, and atleast one guidance parameter. In another aspect, the first image sensoris the same as the same image sensor and wherein the first image data iscaptured as a first time and the second image data is captured at asecond time.

In another aspect, the memory stores instructions executable by theprocessor to receive third image data from a third image sensor, whereinthe third image data represents a third field of view, generatecomposite image data comprising the second and third image data, displaythe first image in a first window of the display, wherein the firstimage corresponds to the first image data, and display a third image ina second window of the display, wherein the third image corresponds tothe composite image data.

In another aspect, the memory stores instructions executable by theprocessor to receive third image data from a third image sensor, whereinthe third image data represents a third field of view, fuse the secondand third image data to generate fused image data, display the firstimage in a first window of the display, wherein the first imagecorresponds to the first image data, and display a third image in asecond window of the display, wherein the third image corresponds to thefused image data.

In various aspects, the present disclosure provides a control circuit toperform the functions described above. In various aspects, the presentdisclosure provides a non-transitory computer readable medium storingcomputer readable instructions, which when executed, causes a machine toperform the functions described above.

By displaying endoscope images augmented with surgical device images onone primary surgical hub display, enables the surgeon to focus on onedisplay to obtain a field of view of the surgical site augmented withsurgical device data associated with the surgical procedure such asforce-to-fire, force-to-close, firing progress, tissue gap, power level,impedance, tissue compression stability (creep), and the like.

Displaying a narrow field of view image in a first window of a displayand a composite image of several other perspectives such as wider fieldsof view enables the surgeon to view a magnified image of the surgicalsite simultaneously with wider fields of view of the surgical sitewithout moving the scope.

In one aspect, the present disclosure provides both global and localdisplay of a device, e.g., a surgical instrument, coupled to thesurgical hub. The device displays all of its relevant menus and displayson a local display until it senses a connection to the surgical hub atwhich point a sub-set of the information is displayed only on themonitor through the surgical hub and that information is either mirroredon the device display or is no longer accessible on the device detonatedscreen. This technique frees up the device display to show differentinformation or display larger font information on the surgical hubdisplay.

In one aspect, the present disclosure provides an instrument having alocal display, a surgical hub having an operating theater (e.g.,operating room or OR) display that is separate from the instrumentdisplay. When the instrument is linked to the surgical hub, theinstrument local display becomes a secondary display and the instrumentreconfigures to display different information than when it is operatingindependent of the surgical hub connection. In another aspect, someportion of the information on the secondary display is then displayed onthe primary display in the operating theater through the surgical hub.

FIG. 121 illustrates a primary display 6200 of the surgical hub 206comprising a global display 6202 and a local instrument display 6204,according to one aspect of the present disclosure. With continuedreference to FIGS. 1-11 to show interaction with an interactive surgicalsystem 100 environment including a surgical hub 106, 206 and FIGS. 12-21for surgical hub connected instruments together with FIG. 121, the localinstrument display 6204 behavior is displayed when the instrument 235senses the connectable presence of a global display 6202 through thesurgical hub 206. The global display 6202 shows a field of view 6206 ofa surgical site 6208, as viewed through a medical imaging device suchas, for example, a laparoscope/endoscope 219 coupled to an imagingmodule 238, at the center of the surgical hub display 215, referred toherein also as a monitor, for example. The end effector 6218 portion ofthe connected instrument 235 is shown in the field of view 6206 of thesurgical site 6208 in the global display 6202. The images shown on thedisplay 237 located on an instrument 235 coupled to the surgical hub 206is shown, or mirrored, on the local instrument display 6204 located inthe lower right corner of the monitor 6200 as shown in FIG. 121, forexample. During operation, all relevant instrument and information andmenus are displayed on the display 237 located on the instrument 235until the instrument 235 senses a connection of the instrument 235 tothe surgical hub 206 at which point all or some sub-set of theinformation presented on the instrument display 237 is displayed only onthe local instrument display 6204 portion of the surgical hub display6200 through the surgical hub 206. The information displayed on thelocal instrument display 6204 may be mirrored on the display 237 locatedon the instrument 235 or may be no longer accessible on the instrumentdisplay 237 detonated screen. This technique frees up the instrument 235to show different information or to show larger font information on thesurgical hub display 6200. Several techniques for overlaying oraugmenting images and/or text from multiple image/text sources topresent composite images on a single display are described hereinbelowin connection with FIGS. 129-137 and FIGS. 147-151.

The surgical hub display 6200 provides perioperative visualization ofthe surgical site 6208. Advanced imaging identifies and visuallyhighlights 6222 critical structures such as the ureter 6220 (or nerves,etc.) and also tracks instrument proximity displays 6210 and shown onthe left side of the display 6200. In the illustrated example, theinstrument proximity displays 6210 show instrument specific settings.For example the top instrument proximity display 6212 shows settings fora monopolar instrument, the middle instrument proximity display 6214shows settings for a bipolar instrument, and the bottom instrumentproximity display 6212 shows settings for an ultrasonic instrument.

In another aspect, independent secondary displays or dedicated localdisplays can be linked to the surgical hub 206 to provide both aninteraction portal via a touchscreen display and/or a secondary screenthat can display any number of surgical hub 206 tracked data feeds toprovide a clear non-confusing status. The secondary screen may displayforce to fire (FTF), tissue gap, power level, impedance, tissuecompression stability (creep), etc., while the primary screen maydisplay only key variables to keep the feed free of clutter. Theinteractive display may be used to move the display of specificinformation to the primary display to a desired location, size, color,etc. In the illustrated example, the secondary screen displays theinstrument proximity displays 6210 on the left side of the display 6200and the local instrument display 6204 on the bottom right side of thedisplay 6200. The local instrument display 6204 presented on thesurgical hub display 6200 displays an icon of the end effector 6218,such as the icon of a staple cartridge 6224 currently in use, the size6226 of the staple cartridge 6224 (e.g., 60 mm), and an icon of thecurrent position of the knife 6228 of the end effector.

In another aspect, the display 237 located on the instrument 235displays the wireless or wired attachment of the instrument 235 to thesurgical hub 206 and the instrument's communication/recording on thesurgical hub 206. A setting may be provided on the instrument 235 toenable the user to select mirroring or extending the display to bothmonitoring devices. The instrument controls may be used to interact withthe surgical hub display of the information being sourced on theinstrument. As previously discussed, the instrument 235 may comprisewireless communication circuits to communicate wirelessly with thesurgical hub 206.

In another aspect, a first instrument coupled to the surgical hub 206can pair to a screen of a second instrument coupled to the surgical hub206 allowing both instruments to display some hybrid combination ofinformation from the two devices of both becoming mirrors of portions ofthe primary display. In yet another aspect, the primary display 6200 ofthe surgical hub 206 provides a 360° composite top visual view of thesurgical site 6208 to avoid collateral structures. For example, asecondary display of the end-effector surgical stapler may be providedwithin the primary display 6200 of the surgical hub 206 or on anotherdisplay in order to provide better perspective around the areas within acurrent the field of view 6206. These aspects are described hereinbelowin connection with FIGS. 122-124.

FIGS. 122-124 illustrate a composite overhead views of an end-effector6234 portion of a surgical stapler mapped using two or more imagingarrays or one array and time to provide multiple perspective views ofthe end-effector 6234 to enable the composite imaging of an overheadfield of view. The techniques described herein may be applied toultrasonic instruments, electrosurgical instruments, combinationultrasonic/electrosurgical instruments, and/or combination surgicalstapler/electrosurgical instruments. Several techniques for overlayingor augmenting images and/or text from multiple image/text sources topresent composite images on a single display are described hereinbelowin connection with FIGS. 129-137 and FIGS. 147-151.

FIG. 122 illustrates a primary display 6200 of the surgical hub 206,according to one aspect of the present disclosure. A primary window 6230is located at the center of the screen shows a magnified or explodednarrow angle view of a surgical field of view 6232. The primary window6230 located in the center of the screen shows a magnified or narrowangle view of an end-effector 6234 of the surgical stapler grasping avessel 6236. The primary window 6230 displays knitted images to producea composite image that enables visualization of structures adjacent tothe surgical field of view 6232. A second window 6240 is shown in thelower left corner of the primary display 6200. The second window 6240displays a knitted image in a wide angle view at standard focus of theimage shown in the primary window 6230 in an overhead view. The overheadview provided in the second window 6240 enables the viewer to easily seeitems that are out of the narrow field surgical field of view 6232without moving the laparoscope, or other imaging device 239 coupled tothe imaging module 238 of the surgical hub 206. A third window 6242 isshown in the lower right corner of the primary display 6200 shows anicon 6244 representative of the staple cartridge of the end-effector6234 (e.g., a staple cartridge in this instance) and additionalinformation such as “4 Row” indicating the number of staple rows 6246and “35 mm” indicating the distance 6248 traversed by the knife alongthe length of the staple cartridge. Below the third window 6242 isdisplayed an icon 6258 of a frame of the current state of a clampstabilization sequence 6250 (FIG. 123) that indicates clampstabilization

FIG. 123 illustrates a clamp stabilization sequence 6250 over a fivesecond period, according to one aspect of the present disclosure. Theclamp stabilization sequence 6250 is shown over a five second periodwith intermittent displays 6252, 6254, 6256, 6258, 6260 spaced apart atone second intervals 6268 in addition to providing the real time 6266(e.g., 09:35:10), which may be a pseudo real time to preserve anonymityof the patient. The intermittent displays 6252, 6254, 6256, 6258, 6260show elapsed by filling in the circle until the clamp stabilizationperiod is complete. At that point, the last display 6260 is shown insolid color. Clamp stabilization after the end effector 6234 clamps thevessel 6236 enables the formation of a better seal.

FIG. 124 illustrates a diagram 6270 of four separate wide angle viewimages 6272, 6274, 6276, 6278 of a surgical site at four separate timesduring the procedure, according to one aspect of the present disclosure.The sequence of images shows the creation of an overhead composite imagein wide and narrow focus over time. A first image 6272 is a wide angleview of the end-effector 6234 clamping the vessel 6236 taken at anearlier time t₀ (e.g., 09:35:09). A second image 6274 is another wideangle view of the end-effector 6234 clamping the vessel 6236 taken atthe present time t₁ (e.g., 09:35:13). A third image 6276 is a compositeimage of an overhead view of the end-effector 6234 clamping the vessel6236 taken at present time t₁. The third image 6276 is displayed in thesecond window 6240 of the primary display 6200 of the surgical hub 206as shown in FIG. 122. A fourth image 6278 is a narrow angle view of theend-effector 6234 clamping the vessel 6236 at present time t₁ (e.g.,09:35:13). The fourth image 6278 is the narrow angle view of thesurgical site shown in the primary window 6230 of the primary display6200 of the surgical hub 206 as shown in FIG. 122.

Display of Instrument Specific Data Needed for Efficient Use of theEnd-Effector

In one aspect, the present disclosure provides a surgical hub display ofinstrument specific data needed for efficient use of a surgicalinstrument, such as a surgical stapler. The techniques described hereinmay be applied to ultrasonic instruments, electrosurgical instruments,combination ultrasonic/electrosurgical instruments, and/or combinationsurgical stapler/electrosurgical instruments. In one aspect, a clamptime indicator based on tissue properties is shown on the display. Inanother aspect, a 360° composite top visual view is shown on the displayto avoid collateral structures as shown and described in connection withFIGS. 121-124 is incorporated herein by reference and, for concisenessand clarity of disclosure, the description of FIGS. 121-124 will not berepeated here.

In one aspect, the present disclosure provides a display of tissue creepto provide the user with in-tissue compression/tissue stability data andto guide the user making an appropriate choice of when to conduct thenext instrument action. In one aspect, an algorithm calculates aconstant advancement of a progressive time based feedback system relatedto the viscoelastic response of tissue. These and other aspects aredescribed hereinbelow.

FIG. 125 is a graph 6280 of tissue creep clamp stabilization curves6282, 6284 for two tissue types, according to one aspect of the presentdisclosure. The clamp stabilization curves 6284, 6284 are plotted asforce-to-close (FTC) as a function of time, where FTC (N) is displayedalong the vertical axis and Time, t, (Sec) is displayed along thehorizontal axis. The FTC is the amount of force exerted to close theclamp arm on the tissue. The first clamp stabilization curve 6282represents stomach tissue and the second clamp stabilization curve 6284represents lung tissue. In one aspect, the FTC along the vertical axisis scaled from 0-180 N. and the horizontal axis is scaled from 0-5 Sec.As shown, the FTC as a different profile over a five second clampstabilization period (e.g., as shown in FIG. 123).

With reference to the first clamp stabilization curve 6282, as thestomach tissue is clamped by the end-effector 6234, the force-to-close(FTC) applied by the end-effector 6234 increases from 0 N to a peakforce-to-close of ˜180 N after ˜1 Sec. While the end-effector 6234remains clamped on the stomach tissue, the force-to-close decays andstabilizes to ˜150 N over time due to tissue creep.

Similarly, with reference to the second clamp stabilization curve 6284,as the lung tissue is clamped by the end-effector 6234, theforce-to-close applied by the end-effector 6234 increases from 0 N to apeak force-to-close of ˜90 N after just less than ˜1 Sec. While theend-effector 6234 remains clamped on the lung tissue, the force-to-closedecays and stabilizes to ˜60 N over time due to tissue creep.

The end-effector 6234 clamp stabilization is monitored as describedabove in connection with FIGS. 122-124 and is displayed every secondcorresponding the sampling times t₁, t₂, t₃, t₄, t₅ of theforce-to-close to provide user feedback regarding the state of theclamped tissue. FIG. 125 shows an example of monitoring tissuestabilization for the lung tissue by sampling the force-to-close everysecond over a 5 seconds period. At each sample time t₁, t₂, t₃, t₄, t₅,the instrument 235 or the surgical hub 206 calculates a correspondingvector tangent 6288, 6292, 6294, 6298, 6302 to the second clampstabilization curve 6284. The vector tangent 6288, 6292, 6294, 6298,6302 is monitored until its slope drops below a threshold to indicatethat the tissue creep is complete and the tissue is ready to sealed andcut. As shown in FIG. 125, the lung tissue is ready to be sealed and cutafter ˜5 Sec clamp stabilization period, where a solid gray circle isshown at sample time 6300. As shown, the vector tangent 6302 is lessthan a predetermined threshold.

The equation of a vector tangent 6288, 6292, 6294, 6298, 6302 to theclamp stabilization curve 6284 may be calculated using differentialcalculus techniques, for example. In one aspect, at a given point on theclamp stabilization curve 6284, the gradient of the curve 6284 is equalto the gradient of the tangent to the curve 6284. The derivative (orgradient function) describes the gradient of the curve 6284 at any pointon the curve 6284. Similarly, it also describes the gradient of atangent to the curve 6284 at any point on the curve 6284. The normal tothe curve 6284 is a line perpendicular to the tangent to the curve 6284at any given point. To determine the equation of a tangent to a curvefind the derivative using the rules of differentiation. Substitute the xcoordinate (independent variable) of the given point into the derivativeto calculate the gradient of the tangent. Substitute the gradient of thetangent and the coordinates of the given point into an appropriate formof the straight line equation. Make they coordinate (dependent variable)the subject of the formula.

FIG. 126 is a graph 6310 of time dependent proportionate fill of a clampforce stabilization curve, according to one aspect of the presentdisclosure. The graph 6310 includes clamp stabilization curves 6312,6314, 6316 for standard thick stomach tissue, thin stomach tissue, andstandard lung tissue. The vertical axis represents FTC (N) scaled from0-240 N and the horizontal axis represents Time, t, (Sec) scaled from0-15 Sec. As shown, the standard thick stomach tissue curve 6316 is thedefault force decay stability curve. All three clamp stabilizationcurves 6312, 6314, 6316 FTC profiles reach a maximum force shortly afterclamping on the tissue and then the FTC decreases over time until iteventually stabilizes due to the viscoelastic response of the tissue. Asshown the standard lung tissue clamp stabilization curve 6312 stabilizesafter a period of ˜5 Sec., the thin stomach tissue clamp stabilizationcurve 6314 stabilizes after a period of ˜10 Sec., and the thick stomachtissue clamp stabilization curve 6316 stabilizes after a period of ˜15Sec.

FIG. 127 is a graph 6320 of the role of tissue creep in the clamp forcestabilization curve 6322, according to one aspect of the presentdisclosure. The vertical axis represents force-to-close FTC (N) and thehorizontal axis represents Time, t, (Sec) in seconds. Vector tangentangles dθ₁, dθ₂ . . . dθ_(n) are measured at each force-to-closesampling (t₀, t₁, t₂, t₃, t₄, etc.) times. The vector tangent angledθ_(n) is used to determine when the tissue has reached the creeptermination threshold, which indicates that the tissue has reached creepstability.

FIGS. 128A and 128B illustrate two graphs 6330, 6340 for determiningwhen the clamped tissue has reached creep stability, according to oneaspect of the present disclosure. The graph 6330 in FIG. 128Aillustrates a curve 6332 that represents a vector tangent angle dθ as afunction of time. The vector tangent angle dθ is calculated as discussedin FIG. 127. The horizontal line 6334 is the tissue creep terminationthreshold. The tissue creep is deemed to be stable at the intersection6336 of the vector tangent angle dθ curve 6332 and the tissue creeptermination threshold 6334. The graph 6340 in FIG. 128B illustrates aΔFTC curve 6342 that represents ΔFTC as a function of time. The ΔFTCcurve 6342 illustrates the threshold 6344 to 100% complete tissue creepstability meter. The tissue creep is deemed to be stable at theintersection 6346 of the ΔFTC curve 6342 and the threshold 6344.

Communication Techniques

With reference to FIGS. 1-11 to show interaction with an interactivesurgical system 100 environment including a surgical hub 106, 206, andin particular, FIGS. 9-10, in various aspects, the present disclosureprovides communications techniques for exchanging information between aninstrument 235, or other modules, and the surgical hub 206. In oneaspect, the communications techniques include image fusion to placeinstrument status and analysis over a laparoscope image, such as ascreen overlay of data, within and around the perimeter of an imagepresented on a surgical hub display 215, 217. In another aspect, thecommunication techniques include combining an intermediate short rangewireless, e.g., Bluetooth, signal with the image, and in another aspect,the communication techniques include applying security andidentification of requested pairing. In yet another aspect, thecommunication techniques include an independent interactive headset wornby a surgeon that links to the hub with audio and visual informationthat avoids the need for overlays, but allows customization of displayedinformation around periphery of view. Each of these communicationtechniques is discussed hereinbelow.

Screen Overlay of Data Within and Around the Perimeter of the DisplayedImage

In one aspect, the present disclosure provides image fusion allowing theoverlay of the status of a device, the integration landmarks being usedto interlock several images, and at least one guidance feature. Inanother aspect, the present disclosure provides a technique for screenoverlay of data within and around the perimeter of displayed image.Radiographic integration may be employed for live internal sensing andpre-procedure overlay. Image fusion of one source may be superimposedover another. Image fusion may be employed to place instrument statusand analysis on a medical imaging device (e.g., laparoscope, endoscope,thoracoscope, etc.) image. Image fusion allows the overlay of the statusof a device or instrument, integration landmarks to interlock severalimages, and at least one guidance feature.

FIG. 129 illustrates an example of an augmented video image 6350comprising a pre-operative video image 6352 augmented with data 6354,6356, 6358 identifying displayed elements. An augmented reality visionsystem may be employed in surgical procedures to implement a method foraugmenting data onto a pre-operative image 6352. The method includesgenerating a pre-operative image 6352 of an anatomical section of apatient and generating an augmented video image of a surgical sitewithin the patient. The augmented video image 6350 includes an image ofat least a portion of a surgical tool 6354 operated by a user 6456. Themethod further includes processing the pre-operative image 6352 togenerate data about the anatomical section of the patient. The dataincludes a label 6358 for the anatomical section and a peripheral marginof at least a portion of the anatomical section. The peripheral marginis configured to guide a surgeon to a cutting location relative to theanatomical section, embedding the data and an identity of the user 6356within the pre-operative image 6350 to display an augmented video image6350 to the user about the anatomical section of the patient. The methodfurther includes sensing a loading condition on the surgical tool 6354,generating a feedback signal based on the sensed loading condition, andupdating, in real time, the data and a location of the identity of theuser operating the surgical tool 6354 embedded within the augmentedvideo image 6350 in response to a change in a location of the surgicaltool 6354 within the augmented video image 6350. Further examples aredisclosed in U.S. Pat. No. 9,123,155, titled APPARATUS AND METHOD FORUSING AUGMENTED REALITY VISION SYSTEM IN SURGICAL PROCEDURES, whichissued on Sep. 1, 2015, which is herein incorporated by reference in itsentirety.

In another aspect, radiographic integration techniques may be employedto overlay the pre-operative image 6352 with data obtained through liveinternal sensing or pre-procedure techniques. Radiographic integrationmay include marker and landmark identification using surgical landmarks,radiographic markers placed in or outside the patient, identification ofradio-opaque staples, clips or other tissue-fixated items. Digitalradiography techniques may be employed to generate digital images foroverlaying with a pre-operative image 6352. Digital radiography is aform of X-ray imaging that employs a digital image capture device withdigital X-ray sensors instead of traditional photographic film. Digitalradiography techniques provide immediate image preview and availabilityfor overlaying with the pre-operative image 6352. In addition, specialimage processing techniques can be applied to the digital X-ray mages toenhance the overall display quality of the image.

Digital radiography techniques employ image detectors that include flatpanel detectors (FPDs), which are classified in two main categoriesindirect FPDs and direct FPDs Indirect FPDs include amorphous silicon(a-Si) combined with a scintillator in the detector's outer layer, whichis made from cesium iodide (CsI) or gadolinium oxy-sulfide (Gd2O2S),converts X-rays to light. The light is channeled through the a-Siphotodiode layer where it is converted to a digital output signal. Thedigital signal is then read out by thin film transistors (TFTs) orfiber-coupled charge coupled devices (CCDs). Direct FPDs includeamorphous selenium (a-Se) FPDs that convert X-ray photons directly intocharge. The outer layer of a flat panel in this design is typically ahigh-voltage bias electrode. X-ray photons create electron-hole pairs ina-Se, and the transit of these electrons and holes depends on thepotential of the bias voltage charge. As the holes are replaced withelectrons, the resultant charge pattern in the selenium layer is readout by a TFT array, active matrix array, electrometer probes or microplasma line addressing. Other direct digital detectors are based on CMOSand CCD technology. Phosphor detectors also may be employed to recordthe X-ray energy during exposure and is scanned by a laser diode toexcite the stored energy which is released and read out by a digitalimage capture array of a CCD.

FIG. 130 is a logic flow diagram 6360 of a process depicting a controlprogram or a logic configuration to display images, according to oneaspect of the present disclosure. With reference also to FIGS. 1-11 toshow interaction with an interactive surgical system 100 environmentincluding a surgical hub 106, 206, the present disclosure provides, inone aspect, a surgical hub 206, comprising a processor 244 and a memory249 coupled to the processor 244. The memory 249 stores instructionsexecutable by the processor 244 to receive 6362 first image data from afirst image sensor, receive 6364 second image data from a second imagesensor, and display 6366, on a display 217 coupled to the surgical hub206, a first image corresponding to the first field of view and a secondimage corresponding to the second field of view. The first image datarepresents a first field of view and the second image data represents asecond field of view.

In one aspect, the first field of view is a narrow angle field of viewand the second field of view is a wide angle field of view. In anotheraspect, the memory 249 stores instructions executable by the processor244 to augment the first image with the second image on the display. Inanother aspect, the memory 249 stores instructions executable by theprocessor 244 to fuse the first image and the second image into a thirdimage and display a fused image on the display 217. In another aspect,the fused image data comprises status information associated with asurgical device 235, an image data integration landmark to interlock aplurality of images, and at least one guidance parameter. In anotheraspect, the first image sensor is the same as the same image sensor andwherein the first image data is captured as a first time and the secondimage data is captured at a second time.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to receive third image data from a third image sensor,wherein the third image data represents a third field of view, generatecomposite image data comprising the second and third image data, displaythe first image in a first window of the display, wherein the firstimage corresponds to the first image data, and display a third image ina second window of the display 215, wherein the third image correspondsto the composite image data.

In another aspect, the memory 249 stores instructions executable by theprocessor 244 to receive third image data from a third image sensor,wherein the third image data represents a third field of view, fuse thesecond and third image data to generate fused image data, display thefirst image in a first window of the display 217, wherein the firstimage corresponds to the first image data, and display a third image ina second window of the display 217, wherein the third image correspondsto the fused image data.

Intermediate Short Range Wireless (e.g., Bluetooth) Signal Combiner

An intermediate short range wireless, e.g., Bluetooth, signal combinermay comprise a wireless heads-up display adapter placed into thecommunication path of the monitor to a laparoscope console allowing thesurgical hub to overlay data onto the screen. Security andidentification of requested pairing may augment the communicationtechniques.

FIG. 131 illustrates a communication system 6370 comprising anintermediate signal combiner 6372 positioned in the communication pathbetween an imaging module 238 and a surgical hub display 217, accordingto one aspect of the present disclosure. The signal combiner 6372receives image data from an imaging module 238 in the form of shortrange wireless or wired signals. The signal combiner 6372 also receivesaudio and image data form a headset 6374 and combines the image datafrom the imaging module 238 with the audio and image data from theheadset 6374. The surgical hub 206 receives the combined data from thecombiner 6372 and overlays the data provided to the display 217, wherethe overlaid data is displayed. The signal combiner 6372 may communicatewith the surgical hub 206 via wired or wireless signals The headset 6374receives image data from an imaging device 6376 coupled to the headset6374 and receives audio data from an audio device 6378 coupled to theheadset 6374. The imaging device 6376 may be a digital video camera andthe audio device 6378 may be a microphone. In one aspect, the signalcombiner 6372 may be an intermediate short range wireless, e.g.,Bluetooth, signal combiner. The signal combiner 6374 may comprise awireless heads-up display adapter to couple to the headset 6374 placedinto the communication path of the display 217 to a console allowing thesurgical hub 206 to overlay data onto the screen of the display 217.Security and identification of requested pairing may augment thecommunication techniques. The imaging module 238 may be coupled to avariety if imaging devices such as an endoscope 239, laparoscope, etc.,for example.

Independent Interactive Headset

FIG. 132 illustrates an independent interactive headset 6380 worn by asurgeon 6382 to communicate data to the surgical hub, according to oneaspect of the present disclosure. Peripheral information of theindependent interactive headset 6380 does not include active video.Rather, the peripheral information includes only device settings, orsignals that do not have same demands of refresh rates. Interaction mayaugment the surgeon's 6382 information based on linkage withpreoperative computerized tomography (CT) or other data linked in thesurgical hub 206. The independent interactive headset 6380 can identifystructure—ask whether instrument is touching a nerve, vessel, oradhesion, for example. The independent interactive headset 6380 mayinclude pre-operative scan data, an optical view, tissue interrogationproperties acquired throughout procedure, and/or processing in thesurgical hub 206 used to provide an answer. The surgeon 6382 can dictatenotes to the independent interactive headset 6380 to be saved withpatient data in the hub storage 248 for later use in report or in followup.

In one aspect, the independent interactive headset 6380 worn by thesurgeon 6382 links to the surgical hub 206 with audio and visualinformation to avoid the need for overlays, and allows customization ofdisplayed information around periphery of view. The independentinteractive headset 6380 provides signals from devices (e.g.,instruments), answers queries about device settings, or positionalinformation linked with video to identify quadrant or position. Theindependent interactive headset 6380 has audio control and audiofeedback from the headset 6380. The independent interactive headset 6380is still able to interact with all other systems in the operatingtheater (e.g., operating room), and have feedback and interactionavailable wherever the surgeon 6382 is viewing.

Identification And Usage Recording

In one aspect, the present disclosure provides a display of theauthenticity of reloads, modular components, or loading units. FIG. 133illustrates a method 6390 for controlling the usage of a device 6392. Adevice 6392 is connected to an energy source 6394. The device 6392includes a memory device 6396 that includes storage 6398 andcommunication 6400 devices. The storage 6398 includes data 6402 that maybe locked data 6404 or unlocked data 6406. Additionally, the storage6398 includes an error-detecting code 6408 such as a cyclic redundancycheck (CRC) value and a sterilization indicator 6410. The energy source6394 includes a reader 6412, display 6414, a processor 6416, and a dataport 6418 that couples the energy source 6394 to a network 6420. Thenetwork 6420 is coupled to a central server 6422, which is coupled to acentral database 6424. The network 6420 also is coupled to areprocessing facility 6426. The reprocessing facility 6426 includes areprocessing data reader/writer 6428 and a sterilizing device 6430.

The method comprises connecting the device to an energy source 6394.Data is read from a memory device 6396 incorporated in the device 6392.The data including one or more of a unique identifier (UID), a usagevalue, an activation value, a reprocessing value, or a sterilizationindicator. The usage value is incremented when the device 6392 isconnected to the energy source 6394. The activation value is incrementedwhen the device 6392 is activated permitting energy to flow from theenergy source 6394 to an energy consuming component of the device 6392.Usage of the device 6392 may be prevented if: the UID is on a list ofprohibited UIDs, the usage value is not lower than a usage limitationvalue, the reprocessing value is equal to a reprocessing limitationvalue, the activation value is equal to an activation limitation value,and/or the sterilization indicator does not indicate that the device hasbeen sterilized since its previous usage. Further examples are disclosedin U.S. Patent Application Publication No. 2015/0317899, titled SYSTEMAND METHOD FOR USING RFID TAGS TO DETERMINE STERILIZATION OF DEVICES,which published on Nov. 5, 2015, which is herein incorporated byreference in its entirety.

FIG. 134 provides a surgical system 6500 in accordance with the presentdisclosure and includes a surgical instrument 6502 that is incommunication with a console 6522 or a portable device 6526 through alocal area network 6518 or a cloud network 6520 via a wired or wirelessconnection. In various aspects, the console 6522 and the portable device6526 may be any suitable computing device. The surgical instrument 6502includes a handle 6504, an adapter 6508, and a loading unit 6514. Theadapter 6508 releasably couples to the handle 6504 and the loading unit6514 releasably couples to the adapter 6508 such that the adapter 6508transmits a force from a drive shaft to the loading unit 6514. Theadapter 6508 or the loading unit 6514 may include a force gauge (notexplicitly shown) disposed therein to measure a force exerted on theloading unit 6514. The loading unit 6514 includes an end effector 6530having a first jaw 6532 and a second jaw 6534. The loading unit 6514 maybe an in-situ loaded or multi-firing loading unit (MFLU) that allows aclinician to fire a plurality of fasteners multiple times withoutrequiring the loading unit 6514 to be removed from a surgical site toreload the loading unit 6514.

The first and second jaws 6532, 6534 are configured to clamp tissuetherebetween, fire fasteners through the clamped tissue, and sever theclamped tissue. The first jaw 6532 may be configured to fire at leastone fastener a plurality of times, or may be configured to include areplaceable multi-fire fastener cartridge including a plurality offasteners (e.g., staples, clips, etc.) that may be fired more that onetime prior to being replaced. The second jaw 6534 may include an anvilthat deforms or otherwise secures the fasteners about tissue as thefasteners are ejected from the multi-fire fastener cartridge.

The handle 6504 includes a motor that is coupled to the drive shaft toaffect rotation of the drive shaft. The handle 6504 includes a controlinterface to selectively activate the motor. The control interface mayinclude buttons, switches, levers, sliders, touchscreen, and any othersuitable input mechanisms or user interfaces, which can be engaged by aclinician to activate the motor.

The control interface of the handle 6504 is in communication with acontroller 6528 of the handle 6504 to selectively activate the motor toaffect rotation of the drive shafts. The controller 6528 is disposedwithin the handle 6504 and is configured to receive input from thecontrol interface and adapter data from the adapter 6508 or loading unitdata from the loading unit 6514. The controller 6528 analyzes the inputfrom the control interface and the data received from the adapter 6508and/or loading unit 6514 to selectively activate the motor. The handle6504 may also include a display that is viewable by a clinician duringuse of the handle 6504. The display is configured to display portions ofthe adapter or loading unit data before, during, or after firing of theinstrument 6502.

The adapter 6508 includes an adapter identification device 6510 disposedtherein and the loading unit 6514 includes a loading unit identificationdevice 6516 disposed therein. The adapter identification device 6510 isin communication with the controller 6528, and the loading unitidentification device 6516 is in communication with the controller 6528.It will be appreciated that the loading unit identification device 6516may be in communication with the adapter identification device 6510,which relays or passes communication from the loading unitidentification device 6516 to the controller 6528.

The adapter 6508 may also include a plurality of sensors 6512 (oneshown) disposed thereabout to detect various conditions of the adapter6508 or of the environment (e.g., if the adapter 6508 is connected to aloading unit, if the adapter 6508 is connected to a handle, if the driveshafts are rotating, the torque of the drive shafts, the strain of thedrive shafts, the temperature within the adapter 6508, a number offirings of the adapter 6508, a peak force of the adapter 6508 duringfiring, a total amount of force applied to the adapter 6508, a peakretraction force of the adapter 6508, a number of pauses of the adapter6508 during firing, etc.). The plurality of sensors 6512 provides aninput to the adapter identification device 6510 in the form of datasignals. The data signals of the plurality of sensors 6512 may be storedwithin, or be used to update the adapter data stored within, the adapteridentification device 6510. The data signals of the plurality of sensors6512 may be analog or digital. The plurality of sensors 6512 may includea force gauge to measure a force exerted on the loading unit 6514 duringfiring.

The handle 6504 and the adapter 6508 are configured to interconnect theadapter identification device 6510 and the loading unit identificationdevice 6516 with the controller 6528 via an electrical interface. Theelectrical interface may be a direct electrical interface (i.e., includeelectrical contacts that engage one another to transmit energy andsignals therebetween). Additionally or alternatively, the electricalinterface may be a non-contact electrical interface to wirelesslytransmit energy and signals therebetween (e.g., inductively transfer).It is also contemplated that the adapter identification device 6510 andthe controller 6528 may be in wireless communication with one anothervia a wireless connection separate from the electrical interface.

The handle 6504 includes a transmitter 6506 that is configured totransmit instrument data from the controller 6528 to other components ofthe system 6500 (e.g., the LAN 6518, the cloud 6520, the console 6522,or the portable device 6526). The transmitter 6506 also may receive data(e.g., cartridge data, loading unit data, or adapter data) from theother components of the system 6500. For example, the controller 6528may transmit instrument data including a serial number of an attachedadapter (e.g., adapter 6508) attached to the handle 6504, a serialnumber of a loading unit (e.g., loading unit 6514) attached to theadapter, and a serial number of a multi-fire fastener cartridge (e.g.,multi-fire fastener cartridge), loaded into the loading unit, to theconsole 6528. Thereafter, the console 6522 may transmit data (e.g.,cartridge data, loading unit data, or adapter data) associated with theattached cartridge, loading unit, and adapter, respectively, back to thecontroller 6528. The controller 6528 can display messages on the localinstrument display or transmit the message, via transmitter 6506, to theconsole 6522 or the portable device 6526 to display the message on thedisplay 6524 or portable device screen, respectively.

Multi-Functional Surgical Control System and Switching Interface forVerbal Control of Imaging Device

FIG. 135 illustrates a verbal AESOP camera positioning system. Furtherexamples are disclosed in U.S. Pat. No. 7,097,640, titledMULTI-FUNCTIONAL SURGICAL CONTROL SYSTEM AND SWITCHING INTERFACE, whichissued on Aug. 29, 2006, which is herein incorporated by reference inits entirety. FIG. 135 shows a surgical system 6550 that may be coupledto surgical hub 206, described in connection with FIGS. 1-11. The system6550 allows a surgeon to operate a number of different surgical devices6552, 6554, 6556, and 6558 from a single input device 6560. Providing asingle input device reduces the complexity of operating the variousdevices and improves the efficiency of a surgical procedure performed bya surgeon. The system 6550 may be adapted and configured to operate apositioning system for an imaging device such as a camera or endoscopeusing verbal commands

The surgical device 6552 may be a robotic arm which can hold and move asurgical instrument. The arm 6552 may be a device such as that sold byComputer Motion, Inc. of Goleta, Calif. under the trademark AESOP, whichis an acronym for Automated Endoscopic System for Optimal Positioning.The arm 6552 is commonly used to hold and move an endoscope within apatient. The system 6550 allows the surgeon to control the operation ofthe robotic arm 6552 through the input device 6560.

The surgical device 6554 may be an electrocautery device. Electrocauterydevices typically have a bi-polar tip which carries a current that heatsand denatures tissue. The device is typically coupled to an on-offswitch to actuate the device and heat the tissue. The electrocauterydevice may also receive control signals to vary its power output. Thesystem 6550 allows the surgeon to control the operation of theelectrocautery device through the input device 6560.

The surgical device 6556 may be a laser. The laser 6556 may be actuatedthrough an on-off switch. Additionally, the power of the laser 6556 maybe controlled by control signals. The system 6550 allows the surgeon tocontrol the operation of the laser 6556 through the input device 6560.

The device 6558 may be an operating table. The operating table 6558 maycontain motors and mechanisms which adjust the position of the table.The present invention allows the surgeon to control the position of thetable 6558 through the input device 6560. Although four surgical devices6552, 6554, 6556, and 6558 are described, it is to be understood thatother functions within the operating room may be controlled through theinput device 6560. By way of example, the system 6560 may allow thesurgeon to control the lighting and temperature of the operating roomthrough the input device 6560.

The input device 6560 may be a foot pedal which has a plurality ofbuttons 6562, 6564, 6565, 6566, and 6568 that can be depressed by thesurgeon. Each button is typically associated with a specific controlcommand of a surgical device. For example, when the input device 6560 iscontrolling the robotic arm 6552, depressing the button 6562 may movethe arm in one direction and depressing the button 6566 may move the armin an opposite direction. Likewise, when the electrocautery device 6554or the laser 6556 is coupled to the input device 6560, depressing thebutton 6568 may energize the devices, and so forth and so on. Although afoot pedal is shown and described, it is to be understood that the inputdevice 6560 may be a hand controller, a speech interface which acceptsvoice commands from the surgeon, a cantilever pedal or other inputdevices which may be well known in the art of surgical device control.Using the speech interface, the surgeon is able to position a camera orendoscope connected to the robotic arm 6552 using verbal commands Theimaging device, such as a camera or endoscope, may be coupled to therobotic arm 6552 positioning system that be controlled through thesystem 6550 using verbal commands

The system 6550 has a switching interface 6570 which couples the inputdevice 6560 to the surgical devices 6552, 6554, 6556, and 6558. Theinterface 6570 has an input channel 6572 which is connected to the inputdevice 6560 by a bus 6574. The interface 6570 also has a plurality ofoutput channels 6576, 6578, 6580, and 6582 that are coupled to thesurgical devices by busses 6584, 6586, 6588, 6590, 6624, 6626, 6628 andwhich may have adapters or controllers disposed in electricalcommunication therewith and therebetween. Such adapters and controllerswill be discussed in more detail hereinbelow.

Because each device 6552, 6554, 6556, 6558 may require specificallyconfigured control signals for proper operation, adapters 6620, 6622 ora controller 6618 may be placed intermediate and in electricalcommunication with a specific output channel and a specific surgicaldevice. In the case of the robotic arm system 6552, no adapter isnecessary and as such, the robotic arm system 6552 may be in directconnection with a specific output channel. The interface 6570 couplesthe input channel 6572 to one of the output channels 6576, 6578, 6580,and 6582.

The interface 6570 has a select channel 6592 which can switch the inputchannel 6572 to a different output channel 6576, 6578, 6580, or 6582 sothat the input device 6560 can control any of the surgical devices. Theinterface 6570 may be a multiplexor circuit constructed as an integratedcircuit and placed on an ASIC. Alternatively, the interface 6570 may bea plurality of solenoid actuated relays coupled to the select channel bya logic circuit. The interface 6570 switches to a specific outputchannel in response to an input signal or switching signal applied onthe select channel 6592.

As depicted in FIG. 135, there may be several inputs to the selectchannel 6592. Such inputs originate from the foot pedal 6560, the speechinterface 6600 and the CPU 6662. The interface 6570 may have amultiplexing unit such that only one switching signal may be received atthe select channel 6592 at any one time, thus ensuring no substantialhardware conflicts. The prioritization of the input devices may beconfigured so the foot pedal has highest priority followed by the voiceinterface and the CPU. This is intended for example as theprioritization scheme may be employed to ensure the most efficientsystem. As such other prioritization schemes may be employed. The selectchannel 6592 may sequentially connect the input channel to one of theoutput channels each time a switching signal is provided to the selectchannel 6592. Alternatively, the select channel 6592 may be addressableso that the interface 6570 connects the input channel to a specificoutput channel when an address is provided to the select channel 6592.Such addressing is known in the art of electrical switches.

The select channel 6592 may be connected by line 6594 to a dedicatedbutton 6596 on the foot pedal 6560. The surgeon can switch surgicaldevices by depressing the button 6596. Alternatively, the select channel6592 may be coupled by line 6598 to a speech interface 6600 which allowsthe surgeon to switch surgical devices with voice commands

The system 6550 may have a central processing unit (CPU) 6602 whichreceives input signals from the input device 6560 through the interface6570 and a bus 6585. The CPU 6602 receives the input signals, and canensure that no improper commands are being input at the controller. Ifthis occurs, the CPU 6602 may respond accordingly, either by sending adifferent switching signal to select channel 6592, or by alerting thesurgeon via a video monitor or speaker.

The CPU 6602 can also provide output commands for the select channel6592 on the bus 6608 and receives input commands from the speechinterface 6600 on the same bi-directional bus 6608. The CPU 6602 may becoupled to a monitor 6610 and/or a speaker 6612 by buses 6614 and 6616,respectively. The monitor 6610 may provide a visual indication of whichsurgical device is coupled to the input device 6560. The monitor mayalso provide a menu of commands which can be selected by the surgeoneither through the speech interface 6600 or button 6596. Alternatively,the surgeon could switch to a surgical device by selecting a commandthrough a graphic user interface. The monitor 6610 may also provideinformation regarding improper control signals sent to a specificsurgical device 6552, 6554, 6556, 6558 and recognized by the CPU 6602.Each device 6552, 6554, 6556, 6558 has a specific appropriate operatingrange, which is well known to the skilled artisan. As such, the CPU 6602may be programmed to recognize when the requested operation from theinput device 6560 is inappropriate and will then alert the surgeoneither visually via the monitor 6610 or audibly via the speaker 6612.The speaker 6612 may also provide an audio indication of which surgicaldevice is coupled to the input device 6560.

The system 6550 may include a controller 6618 which receives the inputsignals from the input device 6560 and provides corresponding outputsignals to control the operating table 6558. Likewise, the system mayhave adapters 6620, 6622 which provide an interface between the inputdevice 6560 and the specific surgical instruments connected to thesystem.

In operation, the interface 6570 initially couples the input device 6560to one of the surgical devices. The surgeon can control a differentsurgical device by generating an input command that is provided to theselect channel 6592. The input command switches the interface 6570 sothat the input device 6560 is coupled to a different output channel andcorresponding surgical device or adapter. What is thus provided is aninterface 6570 that allows a surgeon to select, operate and control aplurality of different surgical devices through a common input device6560.

FIG. 136 illustrates a multi-functional surgical control system 6650 andswitching interface for virtual operating room integration. A virtualcontrol system for controlling surgical equipment in an operating roomwhile a surgeon performs a surgical procedure on a patient, comprising:a virtual control device including an image of a control device locatedon a surface and a sensor for interrogating contact interaction of anobject with the image on the surface, the virtual control devicedelivering an interaction signal indicative of the contact interactionof the object with the image; and a system controller connected toreceive the interaction signal from the virtual control device and todeliver a control signal to the surgical equipment in response to theinteraction signal to control the surgical equipment in response to thecontact interaction of the object with the image. Further examples aredisclosed in U.S. Pat. No. 7,317,955, titled VIRTUAL OPERATING ROOMINTEGRATION, which issued on Jan. 8, 2008, which is herein incorporatedby reference in its entirety.

As shown in FIG. 136, communication links 6674 are established betweenthe system controller 6676 and the various components and functions ofthe virtual control system 6650. The communication links 6674 arepreferably optical paths, but the communication links may also be formedby radio frequency transmission and reception paths, hardwiredelectrical connections, or combinations of optical, radio frequency andhardwired connection paths as may be appropriate for the type ofcomponents and functions obtained by those components. The arrows at theends of the links 6674 represent the direction of primary informationflow.

The communication links 6674 with the surgical equipment 6652, a virtualcontrol panel 6556, a virtual foot switch 6654 and patient monitoringequipment 6660 are bidirectional, meaning that the information flows inboth directions through the links 6674 connecting those components andfunctions. For example, the system controller 6676 supplies signalswhich are used to create a control panel image from the virtual controlpanel 6656 and a foot switch image from the virtual foot switch 6654.The virtual control panel 6656 and the virtual foot switch 6654 supplyinformation to the system controller 6676 describing the physicalinteraction of the surgeon's finger and foot relative to a projectedcontrol panel image and the projected foot switch image. The systemcontroller 6676 responds to the information describing the physicalinteraction with the projected image, and supplies control signals tothe surgical equipment 6652 and patient monitoring equipment 6660 tocontrol functionality of those components in response to the physicalinteraction information. The control, status and functionalityinformation describing the surgical equipment 6652 and patientmonitoring equipment 6660 flows to the system controller 6676, and afterthat information is interpreted by the system controller 6676, it isdelivered to a system display 6670, a monitor 6666, and/or a heads updisplay 6668 for presentation.

The communication links 6674 between the system controller 6676 and thesystem display 6670, the heads up display 6668, the monitor 6666, a tagprinter 6658 and output devices 6664 are all uni-directional, meaningthat the information flows from the system controller 6676 to thosecomponents and functions. In a similar manner, the communication links6674 between the system controller 6676 and a scanner 6672 and the inputdevices 6662 are also unidirectional, but the information flows from thecomponents 6662, 6672 to the system controller 6676. In certaincircumstances, certain control and status information may flow betweenthe system controller 6676 and the components 6658, 6660, 6662, 6664,6666, 6668, 6670, 6672 in order to control the functionality of thethose components.

Each communication link 6674 preferably has a unique identity so thatthe system controller 6676 can individually communicate with each of thecomponents of the virtual control system 6650. The unique identity ofeach communication link is preferable when some or all of thecommunication links 6674 are through the same medium, as would be thecase of optical and radio frequency communications. The unique identityof each communication link 6674 assures that the system controller 6676has the ability to exercise individual control over each of thecomponents and functions on a very rapid and almost simultaneous manner.The unique identity of each communication link 6674 can be achieved byusing different frequencies for each communication link 6674 or by usingunique address and identification codes associated with thecommunications transferred over each communication link 6674.

In one aspect, the present disclosure provides illustrates a surgicalcommunication and control headset that interfaces with the surgical hub206 described in connection with FIGS. 1-11. Further examples aredisclosed in U.S. Patent Application Publication No. 2009/0046146,titled SURGICAL COMMUNICATION AND CONTROL SYSTEM, which published onFeb. 19, 2009, which is herein incorporated by reference in itsentirety. FIG. 137 illustrates a diagram 6680 of a beam source andcombined beam detector system utilized as a device control mechanism inan operating theater. The system 6680 is configured and wired to allowfor device control with the overlay generated on the primary proceduraldisplay. The footswitch shows a method to allow the user to click oncommand icons that would appear on the screen while the beam source isused to aim at the particular desired command icon to be clicked. Thecontrol system graphic user interface (GUI) and device control processorcommunicate and parameters are changed using the system. The system 6680includes a display 6684 coupled to a beam detecting sensor 6682 and ahead mounted source 6686. The beam detecting sensor 6682 is incommunication with a control system GUI overlay processor and beamsource processor 6688. The surgeon operates a footswitch 6692 or otheradjunctive switch, which provides a signal to a device control interfaceunit 6694.

The system 6680 will provide a means for a sterile clinician to controlprocedural devices in an easy and quick, yet hands free and centralizedfashion. The ability to maximize the efficiency of the operation andminimize the time a patient is under anesthesia is important to the bestpatient outcomes. It is common for surgeons, cardiologists orradiologists to verbally request adjustments be made to certain medicaldevices and electronic equipment used in the procedure outside thesterile field. It is typical that he or she must rely on another staffmember to make the adjustments he or she needs to settings on devicessuch as cameras, bovies, surgical beds, shavers, insufflators,injectors, to name a few. In many circumstances, having to command astaff member to make a change to a setting can slow down a procedurebecause the non-sterile staff member is busy with another task. Thesterile physician cannot adjust non-sterile equipment withoutcompromising sterility, so he or she must often wait for the non-sterilestaff member to make the requested adjustment to a certain device beforeresuming the procedure.

The system 6680 allows a user to use a beam source and beam detector toregenerate a pointer overlay coupled with a GUI and a concurrentswitching method (i.e., a foot switch, etc.) to allow the clinician toclick through commands on the primary display. In one aspect, a GUIcould appear on the procedural video display when activated, such aswhen the user tilts his or her head twice to awaken it or steps on afoot switch provided with the system. Or it is possible that a righthead tilt wakes up the system, and a left head tilt simply activates thebeam source. When the overlay (called device control GUI overlay)appears on the screen it shows button icons representing varioussurgical devices and the user can use the beam source, in this case alaser beam, to aim at the button icons. Once the laser is over theproper button icon, a foot switch, or other simultaneous switch methodcan be activated, effectively acting like a mouse click on a computer.For example a user can “wake up” the system, causing a the devicecontrol GUI overlay to pop up that lists button icons on the screen,each one labeled as a corresponding procedural medical device. The usercan point the laser at the correct box or device and click a foot pedal(or some other concurrent control-like voice control, waistband button,etc.) to make a selection, much like clicking a mouse on a computer. Thesterile physician can then select “insufflator, for example” Thesubsequent screen shows arrow icons that can be clicked for varioussettings for the device that need to be adjusted (pressure, rate, etc.).In one iteration, the user can then can point the laser at the up arrowand click the foot pedal repeatedly until the desired setting isattained.

In one aspect, components of the system 6680 could be coupled withexisting robotic endoscope holders to “steer” a rigid surgicalendoscopic camera by sending movement commands to the robotic endoscopeholding arm (provided separately, i.e., AESOP by Computer Motion). Theendoscope is normally held by an assistant nurse or resident physician.There are robotic and mechanical scope holders currently on the marketand some have even had been introduced with voice control. However,voice control systems have often proven cumbersome, slow and inaccurate.This aspect would employ a series of software and hardware components toallow the overlay to appear as a crosshair on the primary proceduralvideo screen. The user could point the beam source at any part of thequadrant and click a simultaneous switch, such as a foot pedal, to sendmovement commands to the existing robotic arm, which, when coupled withthe secondary trigger (i.e., a foot switch, waist band switch, etc.)would send a command to adjust the arm in minute increments in thedirection of the beam source. It could be directed by holding down thesecondary trigger until the desired camera angle and position isachieved and then released. This same concept could be employed forsurgical bed adjustments by having the overlay resemble the controls ofa surgical bed. The surgical bed is commonly adjusted during surgery toallow better access to the anatomy. Using the combination of the beamsource, in this case a laser, a beam detecting sensor such as a camera,a control system GUI overlay processing unit and beam source processor,and a device control interface unit, virtually any medical device couldbe controlled through this system. Control codes would be programmedinto the device control interface unit, and most devices can beconnected using an RS-232 interface, which is a standard for serialbinary data signals connecting between a DIE (Data Terminal Equipment)and a DCE (Data Circuit-terminating Equipment). The present inventionwhile described with reference to application in the medical field canbe expanded/modified for use in other fields. Another use of thisinvention could be in helping those who are without use of their handsdue to injury or handicap or for professions where the hands areoccupied and hands free interface is desired.

Surgical Hub with Direct Interface Control with Secondary SurgeonDisplay Units Designed to be Within the Sterile Field and Accessible forInput and Display by the Surgeon

In one aspect, the surgical hub 206 provides a secondary user interfacethat enables display and control of surgical hub 206 functions from withthe sterile field. The secondary display could be used to change displaylocations, what information is displayed where, pass off control ofspecific functions or devices.

During a surgical procedure, the surgeon may not have a user interfacedevice accessible for interactive input by the surgeon and displaywithin the sterile field. Thus, the surgeon cannot interface with theuser interface device and the surgical hub from within the sterile fieldand cannot control other surgical devices through the surgical hub fromwithin the sterile field.

One solution provides a display unit designed to be used within thesterile field and accessible for input and display by the surgeon toallow the surgeon to have interactive input control from the sterilefield to control other surgical devices coupled to the surgical hub. Thedisplay unit is sterile and located within the sterile field to allowthe surgeons to interface with the display unit and the surgical hub todirectly interface and configure instruments as necessary withoutleaving the sterile field. The display unit is a master device and maybe used for display, control, interchanges of tool control, allowingfeeds from other surgical hubs without the surgeon leaving the sterilefield.

In one aspect, the present disclosure provides a control unit,comprising an interactive touchscreen display, an interface configuredto couple the interactive touchscreen display to a surgical hub, aprocessor, and a memory coupled to the processor. The memory storesinstructions executable by the processor to receive input commands fromthe interactive touchscreen display located inside a sterile field andtransmits the input commands to a surgical hub to control devicescoupled to the surgical hub located outside the sterile field.

In another aspect, the present disclosure provides a control unit,comprising an interactive touchscreen display, an interface configuredto couple the interactive touchscreen display to a surgical hub, and acontrol circuit configured to receive input commands from theinteractive touchscreen display located inside a sterile field andtransmit the input commands to a surgical hub to control devices coupledto the surgical hub located outside the sterile field.

In another aspect, the present disclosure provides a non-transitorycomputer readable medium storing computer readable instructions which,when executed, causes a machine to receive input commands from aninteractive touchscreen display located inside a sterile field andtransmit the input commands to a surgical hub through an interfaceconfigured to couple the interactive touchscreen display to the surgicalhub to control devices coupled to the surgical hub located outside thesterile field.

Providing a display unit designed to be used within the sterile fieldand accessible for input and display by the surgeon provides the surgeoninteractive input control from the sterile field to control othersurgical devices coupled to the surgical hub.

This display unit within the sterile field is sterile and allows thesurgeons to interface with it and the surgical hub. This gives thesurgeon control of the instruments coupled to the surgical hub andallows the surgeon to directly interface and configure the instrumentsas necessary without leaving the sterile field. The display unit is amaster device and may be used for display, control, interchanges of toolcontrol, allowing feeds from other surgical hubs without the surgeonleaving the sterile field.

In various aspects, the present disclosure provides a secondary userinterface to enable display and control of surgical hub functions fromwithin a sterile field. This control could be a display device like anI-pad, e.g., a portable interactive touchscreen display deviceconfigured to be introduced into the operating theater in a sterilemanner. It could be paired like any other device or it could be locationsensitive. The display device would be allowed to function in thismanner whenever the display device is placed over a specific location ofthe draped abdomen of the patient during a surgical procedure. In otheraspects, the present disclosure provides a smart retractor and a smartsticker. These and other aspects are described hereinbelow.

In one aspect, the present disclosure provides a secondary userinterface to enable display and control of surgical hub functions fromwithin the sterile field. In another aspect, the secondary display couldbe used to change display locations, determine what information andwhere the information is displayed, and pass off control of specificfunctions or devices.

There are four types of secondary surgeon displays in two categories.One type of secondary surgeon display units is designed to be usedwithin the sterile field and accessible for input and display by thesurgeon within the sterile field interactive control displays. Sterilefield interactive control displays may be shared or common sterile fieldinput control displays.

A sterile field display may be mounted on the operating table, on astand, or merely laying on the abdomen or chest of the patient. Thesterile field display is sterile and allows the surgeons to interfacewith the sterile field display and the surgical hub. This gives thesurgeon control of the system and allows them to directly interface andconfigure the sterile field display as necessary. The sterile fielddisplay may be configured as a master device and may be used fordisplay, control, interchanges of tool control, allowing feeds fromother surgical hubs, etc.

In one aspect, the sterile field display may be employed to re-configurethe wireless activation devices within the operating theater (OR) andtheir paired energy device if a surgeon hands the device to another.FIGS. 138A-138E illustrate various types of sterile field control anddata input consoles 6700, 6702, 6708, 6712, 6714 according to variousaspects of the present disclosure. Each of the disclosed sterile fieldcontrol and data input consoles 6700, 6702, 6708, 6712, 6714 comprise atleast one touchscreen 6701, 6704/6706, 6709, 6713, 6716 input/outputdevice layered on the top of an electronic visual display of aninformation processing system. The sterile field control and data inputconsoles 6700, 6702, 6708, 6712, 6714 may include batteries as a powersource. Some include a cable 6710 to connect to a separate power sourceor to recharge the batteries. A user can give input or control theinformation processing system through simple or multi-touch gestures bytouching the touchscreen 6701, 6704/6706, 6709, 6713, 6716 with astylus, one or more fingers, or a surgical tool. The sterile fieldcontrol and data input consoles 6700, 6702, 6708, 6712, 6714 may be usedto re-configure wireless activation devices within the operating theaterand a paired energy device if a surgeon hands the device to anothersurgeon. The sterile field control and data input consoles 6700, 6702,6708, 6712, 6714 may be used to accept consult feeds from anotheroperating theater where it would then configure a portion of theoperating theater screens or all of them to mirror the other operatingtheater so the surgeon is able to see what is needed to help. Thesterile field control and data input consoles 6700, 6702, 6708, 6712,6714 are configured to communicate with the surgical hub 206.Accordingly, the description of the surgical hub 206 discussed inconnection with FIGS. 1-11 is incorporated in this section by reference.

FIG. 138A illustrates a single zone sterile field control and data inputconsole 6700, according to one aspect of the present disclosure. Thesingle zone console 6700 is configured for use in a single zone within asterile field. Once deployed in a sterile field, the single zone console6700 can receive touchscreen inputs from a user in the sterile field.

The touchscreen 6701 enables the user to interact directly with what isdisplayed, rather than using a mouse, touchpad, or other such devices(other than a stylus or surgical tool). The single zone console 6700includes wireless communication circuits to communicate wirelessly tothe surgical hub 206.

FIG. 138B illustrates a multi zone sterile field control and data inputconsole 6702, according to one aspect of the present disclosure. Themulti zone console 6702 comprises a first touchscreen 6704 to receive aninput from a first zone of a sterile field and a second touchscreen 6706to receive an input from a second zone of a sterile field. The multizone console 6702 is configured to receive inputs from multiple users ina sterile field. The multi zone console 6702 includes wirelesscommunication circuits to communicate wirelessly to the surgical hub206. Accordingly, the multi zone sterile field control and data inputconsole 6702 comprises an interactive touchscreen display with multipleinput and output zones.

FIG. 138C illustrates a tethered sterile field control and data inputconsole 6708, according to one aspect of the present disclosure. Thetethered console 6708 includes a cable 6710 to connect the tetheredconsole 6708 to the surgical hub 206 via a wired connection. The cable6710 enables the tethered console 6708 to communicate over a wired linkin addition to a wireless link. The cable 6710 also enables the tetheredconsole 6708 to connect to a power source for powering the console 6708and/or recharging the batteries in the console 6708.

FIG. 138D illustrates a battery operated sterile field control and datainput console 6712, according to one aspect of the present disclosure.The sterile field console 6712 is battery operated and includes wirelesscommunication circuits to communicate wirelessly with the surgical hub206. In particular, in one aspect, the sterile field console 6712 isconfigured to communicate with any of the modules coupled to the hub 206such as the generator module 240. Through the sterile field console6712, the surgeon can adjust the power output level of a generator usingthe touchscreen 6713 interface. One example is described below inconnection with FIG. 138E.

FIG. 138E illustrates a battery operated sterile field control and datainput console 6714, according to one aspect of the present disclosure.The sterile field console 6714 includes a user interface displayed onthe touchscreen of a generator. The surgeon can thus control the outputof the generator by touching the up/down arrow icons 6718A, 6718B thatincrease/decrease the power output of the generator module 240.Additional icons 6719 enable access to the generator module settings6174, volume 6178 using the +/− icons, among other features directlyfrom the sterile field console 6714. The sterile field console 6714 maybe employed to adjust the settings or reconfigure other wirelessactivations devices or modules coupled to the hub 206 within theoperating theater and their paired energy device when the surgeon handsthe sterile field console 6714 to another.

FIGS. 139A-139B illustrate a sterile field console 6700 in use in asterile field during a surgical procedure, according to one aspect ofthe present disclosure. FIG. 139A shows the sterile field console 6714positioned in the sterile field near two surgeons engaged in anoperation. In FIG. 139B, one of the surgeons is shown tapping thetouchscreen 6701 of the sterile field console with a surgical tool 6722to adjust the output of a modular device coupled to the surgical hub206, reconfigure the modular device, or an energy device paired with themodular device coupled to the surgical hub 206.

In another aspect, the sterile field display may be employed to acceptconsult feeds from another operating room (OR), such as anotheroperating theater or surgical hub 206, where it would then configure aportion of the OR screens or all of them to mirror the other ORs so thesurgeon could see what is needed to help. FIG. 140 illustrates a process6750 for accepting consult feeds from another operating room, accordingto one aspect of the present disclosure. The sterile field control anddata input consoles 6700, 6702, 6708, 6712, 6714 shown in FIGS.138A-138E, 139A-139B may be used as an interact-able scalable secondarydisplay allowing the surgeon to overlay other feeds or images from laserDoppler image scanning arrays or other image sources. The sterile fieldcontrol and data input consoles 6700, 6702, 6708, 6712, 6714 may be usedto call up a pre-operative scan or image to review. Laser Dopplertechniques are described in U.S. Provisional Patent Application No.62/611,341, filed Dec. 28, 2017, and titled INTERACTIVE SURGICALPLATFORM, which is incorporated herein by reference in its entirety.

It is recognized that the tissue penetration depth of light is dependenton the wavelength of the light used. Thus, the wavelength of the lasersource light may be chosen to detect particle motion (such a bloodcells) at a specific range of tissue depth. A laser Doppler employsmeans for detecting moving particles such as blood cells based at avariety of tissue depths based on the laser light wavelength. A lasersource may be directed to a surface of a surgical site. A blood vessel(such as a vein or artery) may be disposed within the tissue at somedepth δ from the tissue surface. Red laser light (having a wavelength inthe range of about 635 nm to about 660 nm) may penetrate the tissue to adepth of about 1 mm. Green laser light (having a wavelength in the rangeof about 520 nm to about 532 nm) may penetrate the tissue to a depth ofabout 2-3 mm. Blue laser light (having a wavelength in the range ofabout 405 nm to about 445 nm) may penetrate the tissue to a depth ofabout 4 mm or greater. A blood vessel may be located at a depth of about2-3 mm below the tissue surface. Red laser light will not penetrate tothis depth and thus will not detect blood cells flowing within thisvessel. However, both green and blue laser light can penetrate thisdepth. Therefore, scattered green and blue laser light from the bloodcells will result in an observed Doppler shift in both the green andblue.

In some aspects, a tissue may be probed by red, green, and blue laserillumination in a sequential manner and the effect of such illuminationmay be detected by a CMOS imaging sensor over time. It may be recognizedthat sequential illumination of the tissue by laser illumination atdiffering wavelengths may permit a Doppler analysis at varying tissuedepths over time. Although red, green, and blue laser sources may beused to illuminate the surgical site, it may be recognized that otherwavelengths outside of visible light (such as in the infrared orultraviolet regions) may be used to illuminate the surgical site forDoppler analysis. The imaging sensor information may be provided to thesterile field control and data input consoles 6700, 6702, 6708, 6712,6714.

The sterile field control and data input consoles 6700, 6702, 6708,6712, 6714 provide access to past recorded data. In one operatingtheater designated as OR1, the sterile field control and data inputconsoles 6700, 6702, 6708, 6712, 6714 may be configured as “consultants”and to erase all data when the consultation is complete. In anotheroperating theater designated as OR3 (operating room 3), the sterilefield control and data input consoles 6700, 6702, 6708, 6712, 6714 maybe configured as a “consultees” and are configured to record all datareceived from operating theater OR1 (operating room 1) sterile fieldcontrol and data input consoles 6700, 6702, 6708, 6712, 6714. Theseconfigurations are summarized in TABLE 2 below:

TABLE 2 Sterile Field Control And Sterile Field Control And Data InputConsole In OR1 Data Input Console In OR3 Access to past recorded dataOR1 Consultant OR 3 Consultee Erase data when done Record all data

In one implementation of the process 6750, operating theater OR1receives 6752 a consult request from OR3. Data is transferred to the OR1sterile field control and data input console 6700, for example. The datais temporarily stored 6754. The data is backed up in time and the OR1view 6756 of the temporary data begins on the OR1 sterile field controland data input console 6700 touchscreen 6701. When the view is complete,the data is erased 6758 and control returns 6760 to OR1. The data isthen erased 6762 from the OR1 sterile field control and data inputconsole 6700 memory.

In yet another aspect, the sterile field display may be employed as aninteractable scalable secondary display allowing the surgeon to overlayother feeds or images like laser Doppler scanning arrays. In yet anotheraspect, the sterile field display may be employed to call up apre-operative scan or image to review. Once vessel path and depth anddevice trajectory are estimated, the surgeon employs a sterile fieldinteractable scalable secondary display allowing the surgeon to overlayother feeds or images.

FIG. 141 is a diagram 6770 that illustrates a technique for estimatingvessel path, depth, and device trajectory. Prior to dissecting a vessel6772, 6774 located below the surface of the tissue 6775 using a standardapproach, the surgeon estimates the path and depth of the vessel 6772,6774 and a trajectory 6776 of a surgical device 6778 will take to reachthe vessel 6772, 6774. It is often difficult to estimate the path anddepth 6776 of a vessel 6772, 6774 located below the surface of thetissue 6775 because the surgeon cannot accurately visualize the locationof the vessel 6772, 6774 path and depth 6776.

FIGS. 142A-142D illustrate multiple real time views of images of avirtual anatomical detail for dissection including perspective views(FIGS. 142A, 142C) and side views (FIGS. 142B, 142D). The images aredisplayed on a sterile field display of tablet computer or sterile fieldcontrol and data input console employed as an interactable scalablesecondary display allowing the surgeon to overlay other feeds or images,according to one aspect of the present disclosure. The images of thevirtual anatomy enable the surgeon to more accurately predict the pathand depth of a vessel 6772, 6774 located below the surface of the tissue6775 as shown in FIG. 141 and the best trajectory 6776 of the surgicaldevice 6778.

FIG. 142A is a perspective view of a virtual anatomy 6780 displayed on atablet computer or sterile field control and data input console. FIG.142B is a side view of the virtual anatomy 6780 shown in FIG. 142A,according to one aspect of the present disclosure. With reference toFIGS. 142A-142B, in one aspect, the surgeon uses a smart surgical device6778 and a tablet computer to visualize the virtual anatomy 6780 in realtime and in multiple views. The three dimensional perspective viewincludes a portion of tissue 6775 in which the vessels 6772, 6774 arelocated below surface. The portion of tissue is overlaid with a grid6786 to enable the surgeon to visualize a scale and gauge the path anddepth of the vessels 6772, 6774 at target locations 6782, 6784 eachmarked by an X. The grid 6786 also assists the surgeon determine thebest trajectory 6776 of the surgical device 6778. As illustrated, thevessels 6772, 6774 have an unusual vessel path.

FIG. 142C illustrates a perspective view of the virtual anatomy 6780 fordissection, according to one aspect of the present disclosure. FIG. 142Dis a side view of the virtual anatomy 6780 for dissection, according toone aspect of the present disclosure. With reference to FIGS. 142C-142D,using the tablet computer, the surgeon can zoom and pan 360° to obtainan optimal view of the virtual anatomy 6780 for dissection. The surgeonthen determines the best path or trajectory 6776 to insert the surgicaldevice 6778 (e.g., a dissector in this example). The surgeon may viewthe anatomy in a three-dimensional perspective view or any one of sixviews. See for example the side view of the virtual anatomy in FIG. 142Dand the insertion of the surgical device 6778 (e.g., the dissector).

In another aspect, a sterile field control and data input console mayallow live chatting between different departments, such as, for example,with the oncology or pathology department, to discuss margins or otherparticulars associated with imaging. The sterile field control and datainput console may allow the pathology department to tell the surgeonabout relationships of the margins within a specimen and show them tothe surgeon in real time using the sterile field console.

In another aspect, a sterile field control and data input console may beused to change the focus and field of view of its own image or controlthat of any of the other monitors coupled to the surgical hub.

In another aspect, a sterile field control and data input console may beused to display the status of any of the equipment or modules coupled tothe surgical hub 206. Knowledge of which device coupled to the surgicalhub 206 is being used may be obtained via information such as the deviceis not on the instrument pad or on-device sensors. Based on thisinformation, the sterile field control and data input console may changedisplay, configurations, switch power to drive one device, and notanother, one cord from capital to instrument pad and multiple cords fromthere. Device diagnostics may obtain knowledge that the device isinactive or not being used. Device diagnostics may be based oninformation such as the device is not on the instrument pad or basedon-device sensors.

In another aspect, a sterile field control and data input console may beused as a learning tool. The console may display checklists, proceduresteps, and/or sequence of steps. A timer/clock may be displayed tomeasure time to complete steps and/or procedures. The console maydisplay room sound pressure level as indicator for activity, stress,etc.

FIGS. 143A-143B illustrate a touchscreen display 6890 that may be usedwithin the sterile field, according to one aspect of the presentdisclosure. Using the touchscreen display 6890, a surgeon can manipulateimages 6892 displayed on the touchscreen display 6890 using a variety ofgestures such as, for example, drag and drop, scroll, zoom, rotate, tap,double tap, flick, drag, swipe, pinch open, pinch close, touch and hold,two-finger scroll, among others.

FIG. 143A illustrates an image 6892 of a surgical site displayed on atouchscreen display 6890 in portrait mode. FIG. 143B shows thetouchscreen display 6890 rotated 6894 to landscape mode and the surgeonuses his index finger 6896 to scroll the image 6892 in the direction ofthe arrows. FIG. 143C shows the surgeon using his index finger 6896 andthumb 6898 to pinch open the image 6892 in the direction of the arrows6899 to zoom in. FIG. 143D shows the surgeon using his index finger 6896and thumb 6898 to pinch close the image 6892 in the direction of thearrows 6897 to zoom out. FIG. 143E shows the touchscreen display 6890rotated in two directions indicated by arrows 6894, 6896 to enable thesurgeon to view the image 6892 in different orientations.

Outside the sterile field, control and static displays are used that aredifferent from the control and static displays used inside the sterilefield. The control and static displays located outside the sterile fieldprovide interactive and static displays for operating theater (OR) anddevice control. The control and static displays located outside thesterile field may include secondary static displays and secondarytouchscreens for input and output.

Secondary static non-sterile displays 107, 109, 119 (FIG. 2) for usedoutside the sterile field include monitors placed on the wall of theoperating theater, on a rolling stand, or on capital equipment. A staticdisplay is presented with a feed from the control device to which theyare attached and merely displays what is presented to it.

Secondary touch input screens located outside the sterile field may bepart of the visualization system 108 (FIG. 2), part of the surgical hub108 (FIG. 2), or may be fixed placement touch monitors on the walls orrolling stands One difference between secondary touch input screens andstatic displays is that a user can interact with a secondary touch inputscreen by changing what is displayed on that specific monitor or others.For capital equipment applications, it could be the interface to controlthe setting of the connected capital equipment. The secondary touchinput screens and the static displays outside the sterile field can beused to preload the surgeon's preferences (instrumentation settings andmodes, lighting, procedure and preferred steps and sequence, music,etc.)

Secondary surgeon displays may include personal input displays with apersonal input device that functions similarly to the common sterilefield input display device but it is controlled by a specific surgeon.Personal secondary displays may be implemented in many form factors suchas, for example, a watch, a small display pad, interface glasses, etc. Apersonal secondary display may include control capabilities of a commondisplay device and since it is located on or controlled by a specificsurgeon, the personal secondary display would be keyed to him/herspecifically and would indicate that to others and itself. Generallyspeaking, a personal secondary display would normally not be useful toexchanging paired devices because they are not accessible to more thanone surgeon. Nevertheless, a personal secondary display could be used togrant permission for release of a device.

A personal secondary display may be used to provide dedicated data toone of several surgical personnel that wants to monitor something thatthe others typically would not want to monitor. In addition, a personalsecondary display may be used as the command module. Further, a personalsecondary display may be held by the chief surgeon in the operatingtheater and would give the surgeon the control to override any of theother inputs from anyone else. A personal secondary display may becoupled to a short range wireless, e.g., Bluetooth, microphone andearpiece allowing the surgeon to have discrete conversations or calls orthe personal secondary display may be used to broadcast to all theothers in the operating theater or other department.

FIG. 144 illustrates a surgical site 6900 employing a smart surgicalretractor 6902 comprising a direct interface control to a surgical hub206 (FIGS. 1-11), according to one aspect of the present disclosure. Thesmart surgical retractor 6902 helps the surgeon and operating roomprofessionals hold an incision or wound open during surgical procedures.The smart surgical retractor 6902 aids in holding back underlying organsor tissues, allowing doctors/nurses better visibility and access to theexposed area. With reference also to FIGS. 1-11, the smart surgicalretractor 6902 may comprise an input display 6904 operated by the smartsurgical retractor 6902. The smart surgical retractor 6902 may comprisea wireless communication device to communicate with a device connectedto a generator module 240 coupled to the surgical hub 206. Using theinput display 6904 of the smart surgical retractor 6902, the surgeon canadjust power level or mode of the generator module 240 to cut and/orcoagulate tissue. If using automatic on/off for energy delivery onclosure of an end effector on the tissue, the status of automatic on/offmay be indicated by a light, screen, or other device located on thesmart retractor 6902 housing. Power being used may be changed anddisplayed.

In one aspect, the smart surgical retractor 6902 can sense or know whatdevice/instrument 235 the surgeon is using, either through the surgicalhub 206 or RFID or other device placed on the device/instrument 235 orthe smart surgical retractor 6902, and provide an appropriate display.Alarm and alerts may be activated when conditions require. Otherfeatures include displaying the temperature of the ultrasonic blade,nerve monitoring, light source 6906 or fluorescence. The light source6906 may be employed to illuminate the surgical field of view 6908 andto charge photocells 6918 on single use sticker display that stick ontothe smart retractor 6902 (see FIG. 145, for example). In another aspect,the smart surgical retractor 6902 may include an augmented realityprojected on the patient's anatomy (e.g., like a vein viewer).

FIG. 145 illustrates a surgical site 6910 with a smart flexible stickerdisplay 6912 attached to the body/skin 6914 of a patient, according toone aspect of the present disclosure. As shown, the smart flexiblesticker display 6912 is applied to the body/skin 6914 of a patientbetween the area exposed by the surgical retractors 6916. In one aspect,the smart flexible sticker display 6912 may be powered by light, an onboard battery, or a ground pad. The flexible sticker display 6912 maycommunicate via short range wireless (e.g., Bluetooth) to a device, mayprovide readouts, lock power, or change power. The smart flexiblesticker display 6912 also comprises photocells 6918 to power the smartflexible sticker display 6912 using ambient light energy. The flexiblesticker display 6912 includes a display of a control panel 6920 userinterface to enable the surgeon to control devices 235 or other modulescoupled to the surgical hub 206 (FIGS. 1-11).

FIG. 146 is a logic flow diagram 6920 of a process depicting a controlprogram or a logic configuration to communicate from inside a sterilefield to a device located outside the sterile field, according to oneaspect of the present disclosure. In one aspect, a control unitcomprises an interactive touchscreen display, an interface configured tocouple the interactive touchscreen display to a surgical hub, aprocessor, and a memory coupled to the processor. The memory storesinstructions executable by the processor to receive 6922 input commandsfrom the interactive touchscreen display located inside a sterile fieldand transmits 6924 the input commands to a surgical hub to controldevices coupled to the surgical hub located outside the sterile field.

FIG. 147 illustrates a system for performing surgery. The systemcomprises a control box which includes internal circuitry; a surgicalinstrument including a distal element and techniques for sensing aposition or condition of said distal element; techniques associated withsaid surgical instrument for transmitting said sensed position orcondition to said internal circuitry of said control box; and fortransmitting said sensed position or condition from said internalcircuitry of said control box to a video monitor for display thereon,wherein said sensed position or condition is displayed on said videomonitor as an icon or symbol, further comprising a voltage source forgenerating a voltage contained entirely within said surgical instrument.Further examples are disclosed in U.S. Pat. No. 5,503,320, titledSURGICAL APPARATUS WITH INDICATOR, which issued on Apr. 2, 1996, whichis herein incorporated by reference in its entirety.

FIG. 147 shows schematically a system whereby data is transmitted to avideo monitor for display, such data relating to the position and/orcondition of one or more surgical instruments. As shown in FIG. 147, alaparoscopic surgical procedure is being performed wherein a pluralityof trocar sleeves 6930 are inserted through a body wall 6931 to provideaccess to a body cavity 6932. A laparoscope 6933 is inserted through oneof the trocar sleeves 6930 to provide illumination (light cable 6934 isshown leading toward a light source, not pictured) to the surgical siteand to obtain an image thereof. A camera adapter 6935 is attached at theproximal end of laparoscope 6933 and image cable 6936 extends therefromto a control box 6937 discussed in more detail below. Image cable inputsto image receiving port 416 on control box 6937.

Additional surgical instruments 6939, 6940 are inserted throughadditional trocar sleeves 6900 which extend through body wall 6931. InFIG. 147, instrument 6939 schematically illustrates an endoscopicstapling device, e.g., an Endo GIA* instrument manufactured by theassignee of this application, and instrument 6940 schematicallyillustrates a hand instrument, e.g., an Endo Grasp* device alsomanufactured by the present assignee. Additional and/or alternativeinstruments may also be utilized according to the present invention; theillustrated instruments are merely exemplary of surgical instrumentswhich may be utilized according to the present invention.

Instruments 6939, 6940 include adapters 6941, 6942 associated with theirrespective handle portions. The adapters electronically communicate withconductive mechanisms (not pictured). These mechanisms, which includeelectrically conductive contact members electrically connected by wires,cables and the like, are associated with the distal elements of therespective instruments, e.g., the anvil 6943 and cartridge 6944 of theEndo GIA* instrument, the jaws 6945, 6946 of the Endo Grasp* device, andthe like. The mechanisms are adapted to interrupt an electronic circuitwhen the distal elements are in a first position or condition and tocomplete the electronic circuit when the distal elements are in a secondposition or condition. A voltage source for the electronic circuit maybe provided in the surgical instrument, e.g., in the form of a battery,or supplied from control box 6937 through cables 6947, 6948.

Control box 6937 includes a plurality of jacks 6949 which are adapted toreceive cables 6947, 6948 and the like. Control box 6937 furtherincludes an outgoing adapter 6950 which is adapted to cooperate with acable 6951 for transmitting the laparoscopic image obtained by thelaparoscope 6933 together with data concerning surgical instruments6939, 6940 to video monitor 6952. Circuitry within control box 6937 isprovided for converting the presence of an interrupted circuit, e.g.,for the electronics within cable 6947 and the mechanism associated withthe distal elements of instrument 6939, to an icon or symbol for displayon video monitor 6952. Similarly, the circuitry within control box 6937is adapted to provide a second icon or symbol to video monitor 6952 whena completed circuit exists for cable 6947 and the associated mechanism.

Illustrative icons/symbols 6953, 6954 are shown on video monitor 6952.Icon 6953 shows a surgical staple and could be used to communicate tothe surgeon that the cartridge 6944 and anvil 6943 of instrument 6939are properly positioned to form staples in tissue 6955. Icon 6953 couldtake another form when the cartridge 6944 and anvil 6943 are notproperly positioned for forming staples, thereby interrupting thecircuit. Icon 6954 shows a hand instrument with jaws spread apart,thereby communicating to the surgeon that the jaws 6945, 6946 ofinstrument 6940 are open. Icon 6954 could take another form when jaws6945, 6946 are closed, thereby completing the circuit.

FIG. 148 illustrates a second layer of information overlaying a firstlayer of information. The second layer of information includes asymbolic representation of the knife overlapping the detected positionof the knife in the DLU depicted in the first layer of information.Further examples are disclosed in U.S. Pat. No. 9,283,054, titledSURGICAL APPARATUS WITH INDICATOR, which issued on Mar. 15, 2016, whichis herein incorporated by reference in its entirety.

Referring to FIG. 148, the second layer of information 6963 can overlayat least a portion of the first layer of information 6962 on the display6960. Furthermore, the touch screen 6961 can allow a user to manipulatethe second layer of information 6963 relative to the video feedback inthe underlying first layer of information 6962 on the display 6960. Forexample, a user can operate the touch screen 6961 to select, manipulate,reformat, resize, and/or otherwise modify the information displayed inthe second layer of information 6963. In certain aspects, the user canuse the touch screen 6961 to manipulate the second layer of information6963 relative to the surgical instrument 6964 depicted in the firstlayer of information 6962 on the display 6960. A user can select a menu,category and/or classification of the control panel 6967 thereof, forexample, and the second layer of information 6963 and/or the controlpanel 6967 can be adjusted to reflect the user's selection. In variousaspects, a user may select a category from the instrument feedbackcategory 6969 that corresponds to a specific feature or features of thesurgical instrument 6964 depicted in the first layer of information6962. Feedback corresponding to the user-selected category can move,locate itself, and/or “snap” to a position on the display 6960 relativeto the specific feature or features of the surgical instrument 6964. Forexample, the selected feedback can move to a position near and/oroverlapping the specific feature or features of the surgical instrument6964 depicted in the first layer of information 6962.

The instrument feedback menu 6969 can include a plurality of feedbackcategories, and can relate to the feedback data measured and/or detectedby the surgical instrument 6964 during a surgical procedure. Asdescribed herein, the surgical instrument 6964 can detect and/or measurethe position 6970 of a moveable jaw between an open orientation and aclosed orientation, the thickness 6973 of clamped tissue, the clampingforce 6976 on the clamped tissue, the articulation 6974 of the DLU 6965,and/or the position 6971, velocity 6972, and/or force 6975 of the firingelement, for example. Furthermore, the feedback controller in signalcommunication with the surgical instrument 6964 can provide the sensedfeedback to the display 6960, which can display the feedback in thesecond layer of information 6963. As described herein, the selection,placement, and/or form of the feedback data displayed in the secondlayer of information 6963 can be modified based on the user's input tothe touch screen 6961, for example.

When the knife of the DLU 6965 is blocked from view by the end effectorjaws 6966 and/or tissue T, for example, the operator can track and/orapproximate the position of the knife in the DLU 6964 based on thechanging value of the feedback data and/or the shifting position of thefeedback data relative to the DLU 6965 depicted in the underlying firstlayer of information 6962.

In various aspects, the display menu 6977 of the control panel 6967 canrelate to a plurality of categories, such as unit systems 6978 and/ordata modes 6979, for example. In certain aspects, a user can select theunit systems category 6978 to switch between unit systems, such asbetween metric and U.S. customary units, for example. Additionally, auser can select the data mode category 6979 to switch between types ofnumerical representations of the feedback data and/or types of graphicalrepresentations of the feedback data, for example. The numericalrepresentations of the feedback data can be displayed as numericalvalues and/or percentages, for example. Furthermore, the graphicalrepresentations of the feedback data can be displayed as a function oftime and/or distance, for example. As described herein, a user canselect the instrument controller menu 6980 from the control panel 6967to input directives for the surgical instrument 6964, which can beimplemented via the instrument controller and/or the microcontroller,for example. A user can minimize or collapse the control panel 6967 byselecting the minimize/maximize icon 6968, and can maximize orun-collapse the control panel 6967 by re-selecting the minimize/maximizeicon 6968.

FIG. 149 depicts a perspective view of a surgeon using a surgicalinstrument that includes a handle assembly housing and a wirelesscircuit board during a surgical procedure, with the surgeon wearing aset of safety glasses. The wireless circuit board transmits a signal toa set of safety glasses worn by a surgeon using the surgical instrumentduring a procedure. The signal is received by a wireless port on thesafety glasses. One or more lighting devices on a front lens of thesafety glasses change color, fade, or glow in response to the receivedsignal to indicate information to the surgeon about the status of thesurgical instrument. The lighting devices are disposable on peripheraledges of the front lens to not distract the direct line of vision of thesurgeon. Further examples are disclosed in U.S. Pat. No. 9,011,427,titled SURGICAL INSTRUMENT WITH SAFETY GLASSES, which issued on Apr. 21,2015, which is herein incorporated by reference in its entirety.

FIG. 149 shows a version of safety glasses 6991 that may be worn by asurgeon 6992 during a surgical procedure while using a medical device.In use, a wireless communications board housed in a surgical instrument6993 may communicate with a wireless port 6994 on safety glasses 6991.Exemplary surgical instrument 6993 is a battery-operated device, thoughinstrument 6993 could be powered by a cable or otherwise. Instrument6993 includes an end effector. Particularly, wireless communicationsboard 6995 transmits one or more wireless signals indicated by arrows(B, C) to wireless port 6994 of safety glasses 6991. Safety glasses 6991receive the signal, analyze the received signal, and display indicatedstatus information received by the signal on lenses 6996 to a user, suchas surgeon 6992, wearing safety glasses 6991. Additionally oralternatively, wireless communications board 6995 transmits a wirelesssignal to surgical monitor 6997 such that surgical monitor 6997 maydisplay received indicated status information to surgeon 6992, asdescribed above.

A version of the safety glasses 6991 may include lighting device onperipheral edges of the safety glasses 6991. A lighting device providesperipheral-vision sensory feedback of instrument 6993, with which thesafety glasses 6991 communicate to a user wearing the safety glasses6991. The lighting device may be, for example, a light-emitted diode(“LED”), a series of LEDs, or any other suitable lighting device knownto those of ordinary skill in the art and apparent in view of theteachings herein.

LEDs may be located at edges or sides of a front lens of the safetyglasses 6991 so not to distract from a user's center of vision whilestill being positioned within the user's field of view such that theuser does not need to look away from the surgical site to see thelighting device. Displayed lights may pulse and/or change color tocommunicate to the wearer of the safety glasses 6991 various aspects ofinformation retrieved from instrument 6993, such as system statusinformation or tissue sensing information (i.e., whether the endeffector has sufficiently severed and sealed tissue). Feedback fromhoused wireless communications board 6995 may cause a lighting device toactivate, blink, or change color to indicate information about the useof instrument 6993 to a user. For example, a device may incorporate afeedback mechanism based on one or more sensed tissue parameters. Inthis case, a change in the device output(s) based on this feedback insynch with a tone change may submit a signal through wirelesscommunications board 6995 to the safety glasses 6991 to triggeractivation of the lighting device. Such described means of activation ofthe lighting device should not be considered limiting as other means ofindicating status information of instrument 6993 to the user via thesafety glasses 6991 are contemplated. Further, the safety glasses 6991may be single-use or reusable eyewear. Button-cell power supplies suchas button-cell batteries may be used to power wireless receivers andLEDs of versions of safety glasses 6991, which may also include a housedwireless board and tri-color LEDs. Such button-cell power supplies mayprovide a low-cost means of providing sensory feedback of informationabout instrument 6993 when in use to surgeon 6992 wearing safety glasses6991.

FIG. 150 is a schematic diagram of a feedback control system forcontrolling a surgical instrument. The surgical instrument includes ahousing and an elongated shaft that extends distally from the housingand defines a first longitudinal axis. The surgical instrument alsoincludes a firing rod disposed in the elongated shaft and a drivemechanism disposed at least partially within the housing. The drivemechanism mechanically cooperates with the firing rod to move the firingrod. A motion sensor senses a change in the electric field (e.g.,capacitance, impedance, or admittance) between the firing rod and theelongated shaft. The measurement unit determines a parameter of themotion of the firing rod, such as the position, speed, and direction ofthe firing rod, based on the sensed change in the electric field. Acontroller uses the measured parameter of the motion of the firing rodto control the drive mechanism. Further examples are disclosed in U.S.Pat. No. 8,960,520, titled METHOD AND APPARATUS FOR DE1ERMININGPARAMETERS OF LINEAR MOTION IN A SURGICAL INSTRUMENT, which issued onFeb. 24, 2015, which is herein incorporated by reference in itsentirety.

With reference to FIG. 150, aspects of the present disclosure mayinclude a feedback control system 6150. The system 6150 includes afeedback controller 6152. The surgical instrument 6154 is connected tothe feedback controller 6152 via a data port, which may be either wired(e.g., FireWire®, USB, Serial RS232, Serial RS485, USART, Ethernet,etc.) or wireless (e.g., Bluetooth®, ANT3®, KNX®, Z-Wave X10®, WirelessUSB®, Wi-Fi®, IrDA®, nanoNET®, TinyOS®, ZigBeet, 802.11 IEEE, and otherradio, infrared, UHF, VHF communications and the like). The feedbackcontroller 6152 is configured to store the data transmitted to it by thesurgical instrument 6154 as well as process and analyze the data. Thefeedback controller 6152 is also connected to other devices, such as avideo display 6154, a video processor 6156 and a computing device 6158(e.g., a personal computer, a PDA, a smartphone, a storage device,etc.). The video processor 6156 is used for processing output datagenerated by the feedback controller 6152 for output on the videodisplay 6154. The computing device 6158 is used for additionalprocessing of the feedback data. In one aspect, the results of thesensor feedback analysis performed by a microcontroller may be storedinternally for later retrieval by the computing device 6158.

FIG. 151 illustrates a feedback controller 6152 including an on-screendisplay (OSD) module and a heads-up-display (HUD) module. The modulesprocess the output of a microcontroller for display on various displays.More specifically, the OSD module overlays text and/or graphicalinformation from the feedback controller 6152 over other video imagesreceived from the surgical site via cameras disposed therein. Themodified video signal having overlaid text is transmitted to the videodisplay allowing the user to visualize useful feedback information fromthe surgical instrument 6154 and/or feedback controller 6152 while stillobserving the surgical site. The feedback controller 6152 includes adata port 6160 coupled to a microcontroller which allows the feedbackcontroller 6152 to be connected to the computing device 6158 (FIG. 150).The data port 6160 may provide for wired and/or wireless communicationwith the computing device 6158 providing for an interface between thecomputing device 6158 and the feedback controller 6152 for retrieval ofstored feedback data, configuration of operating parameters of thefeedback controller 6152 and upgrade of firmware and/or other softwareof the feedback controller 6152.

The feedback controller 6152 includes a housing 6162 and a plurality ofinput and output ports, such as a video input 6164, a video output 6166,and a HUD display output 6168. The feedback controller 6152 alsoincludes a screen for displaying status information concerning thefeedback controller 6152. Further examples are disclosed in U.S. Pat.No. 8,960,520, titled METHOD AND APPARATUS FOR DETERMINING PARAMETERS OFLINEAR MOTION IN A SURGICAL INSTRUMENT, which issued on Feb. 24, 2015,which is herein incorporated by reference in its entirety.

EXAMPLES

Various aspects of the subject matter described herein are set out inthe following numbered examples:

Example 1

A method, comprising detecting a modular surgical device within boundsof a surgical operating room, connecting the modular surgical device toa surgical hub, connecting the surgical hub to a cloud-based system,transmitting surgical data associated with a surgical procedure beingperformed in the surgical operating room from the modular surgicaldevice to the surgical hub, and transmitting the surgical data from thesurgical hub to the cloud-based system.

Example 2

The method of Example 1, wherein the modular surgical device is a firstmodular surgical device, and wherein the method further comprisesdetecting a second modular surgical device within the bounds of thesurgical operating room.

Example 3

The method of Example 2, further comprising connecting the secondmodular surgical device to the surgical hub.

Example 4

The method of Example 3, further comprising controlling the firstmodular surgical device with the second modular surgical device.

Example 5

The method of any one of Examples 1-4, further comprising inferringprogression of the surgical procedure from the surgical data.

Example 6

A method, comprising detecting a medical imaging device within bounds ofa surgical operating room, connecting the medical imaging device to asurgical hub including an imaging module, transmitting a livestream of asurgical site in the surgical operating room from the medical imagingdevice to the imaging module, capturing, by the imaging module, at leastone image frame from the livestream, deriving information relevant tothe surgical site from data extracted from the at least one image frame,transmitting the information from the surgical hub to the medicalimaging device, and overlaying the information onto the livestream.

Example 7

The method of Example 6, further comprising detecting a modular surgicaldevice within the bounds of the surgical operating room.

Example 8

The method of Example 7, further comprising connecting the modularsurgical device to the surgical hub.

Example 9

The method of Example 8, further comprising assessing a surgicalactivity performed by an end effector of the modular surgical device atthe surgical site from the data extracted from the at least one imageframe.

Example 10

The method of any one of Examples 6-9, further comprising connecting thesurgical hub to a cloud-based control system.

Example 11

The method of Example 10, further comprising transmitting theinformation from the surgical hub to the cloud-based control system.

Example 12

A method, comprising detecting a modular surgical device within boundsof a surgical operating room, connecting the modular surgical device toa surgical hub, transmitting a livestream of a surgical site in thesurgical operating room to an imaging module of the surgical hub,capturing, by the imaging module, at least one image frame from thelivestream, and assessing a surgical activity performed by an endeffector of the modular surgical device at the surgical site from dataextracted from the at least one image frame.

Example 13

The method of Example 12, further comprising inferring progression ofthe surgical activity from the data.

Example 14

The method of Example 13, further comprising connecting the surgical hubto a cloud-based control system.

Example 15

The method of Example 14, further comprising transmitting the data fromthe surgical hub to the cloud-based control system.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub configured to transmit generator data associated with asurgical procedure from a generator of the surgical hub to a cloud-basedsystem communicatively coupled to a plurality of surgical hubs, thesurgical hub, comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: receive generator data from the generator, wherein the generatordata is structured into a data packet comprising at least two of thefollowing fields: a field that indicates a source of the data; a uniquetime stamp; a field indicating an energy mode of the generator; a fieldindicating a power output of the generator; and a field indicating aduration of the power output of the generator; encrypt the generatordata; generate a message authentication code based on the generatordata; generate a datagram comprising the encrypted generator data, thegenerated message authentication code, a source identifier and adestination identifier; and transmit the datagram to a cloud-basedsystem, wherein the datagram allows for the cloud-based system to:decrypt the encrypted generator data of the transmitted datagram; verifythe integrity of the generator data based on the message authenticationcode; authenticate the surgical hub as the source of the datagram; andvalidate a transmission path followed by the datagram between thesurgical hub and the cloud-based system.

Example 2

The surgical hub of Example 1, wherein generating the datagramcomprises: generating a datagram header, wherein the datagram header isstructured to comprise: a field indicating an IP address associated withthe surgical hub; and a field indicating an IP address associated withthe cloud-based system; and generating a datagram payload, wherein thedatagram payload is structured to comprise the encrypted generator dataand the generated message authentication code.

Example 3

The surgical hub of Examples 2, wherein the datagram header is furtherstructured to comprise: a field indicating a transmission pathdesignating at least one IP address associated with at least oneintermediate network component through which the datagram is to pass asthe datagram is transmitted from the IP address associated with thesurgical hub to the IP address associated with the cloud-based system.

Example 4

The surgical hub of any one of Examples 1-3, wherein the instructionsare further executable by the processor to: receive a receipt messagefrom the cloud-based system in response to the transmitted datagram,wherein the receipt message indicates at least one of

The integrity of the generator data, decrypted from the transmitteddatagram, has been verified by the cloud-based system; the surgical hubhas been authenticated as the source of the datagram by the cloud-basedsystem; or the transmission path followed by the transmitted datagrambetween the surgical hub and the cloud-based system has been validatedby the cloud-based system.

Example 5

The surgical hub of any one of Examples 1-4, wherein the instructionsare further executable by the processor to: send a message to thecloud-based system, wherein the message requests recommendationgenerator data associated with a particular surgical procedure; receivea response datagram from the cloud-based system, wherein the responsedatagram comprises encrypted recommendation generator data and aresponse message authentication code; decrypt the encryptedrecommendation generator data of the response datagram, wherein therecommendation generator data is structured into a response data packetcomprising at least one of the following fields: a field indicating anenergy mode of the generator for the particular surgical procedure; afield indicating a power output of the generator for the particularsurgical procedure; or a field indicating a duration of the power outputof the generator for the particular surgical procedure; verify theintegrity of the recommendation generator data based on the responsemessage authentication code; and send the recommendation generator datato the generator for implementation, via a generator module, during theparticular surgical procedure.

Example 6

The surgical hub of Example 5, wherein the recommendation generator datais based on generator data associated with the particular surgicalprocedure as securely transmitted by the plurality of surgical hubs tothe cloud-based system over time.

Example 7

The surgical hub of Example 1, wherein generating the messageauthentication code comprises: calculating the message authenticationcode based on a key, a hash function and one of the received generatordata or the encrypted generator data.

Example 8

The surgical hub of Example 7, wherein the key is a secret key and thehash algorithm is a message authentication code algorithm, and whereincalculating the message authentication code comprises processing theencrypted generator data through the message authentication codealgorithm using the secret key.

Example 9

The surgical hub of any one of Examples 7-8, wherein the key is a secretkey and the hash algorithm is a message authentication code algorithm,and wherein calculating the message authentication code comprisesprocessing the received generator data through the messageauthentication code algorithm using the secret key.

Example 10

The surgical hub of Example 1, wherein encrypting the generator datacomprises encrypting the received generator data using a shared secretor a public key associated with the cloud-based system.

Example 11

A surgical hub configured to transmit generator data associated with asurgical procedure from a generator of the surgical hub to a cloud-basedsystem communicatively coupled to a plurality of surgical hubs, thesurgical hub, comprising: a control circuit configured to: receivegenerator data from the generator, wherein the generator data isstructured into a data packet comprising at least two of the followingfields: a field that indicates a source of the data; a unique timestamp; a field indicating an energy mode of the generator; a fieldindicating a power output of the generator; and a field indicating aduration of the power output of the generator; encrypt the generatordata; generate a message authentication code based on the generatordata; generate a datagram comprising the encrypted generator data, thegenerated message authentication code, a source identifier and adestination identifier; and transmit the datagram to a cloud-basedsystem, wherein the datagram allows for the cloud-based system to:decrypt the encrypted generator data of the transmitted datagram; verifythe integrity of the generator data based on the message authenticationcode; authenticate the surgical hub as the source of the datagram; andvalidate a transmission path followed by the datagram between thesurgical hub and the cloud-based system.

Example 12

The surgical hub of Example 11, wherein the control circuit is furtherconfigured to: send a message to the cloud-based system, wherein themessage requests recommendation generator data associated with aparticular surgical procedure; receive a response datagram from thecloud-based system, wherein the response datagram comprises encryptedrecommendation generator data and a response message authenticationcode; decrypt the encrypted recommendation generator data of theresponse datagram, wherein the recommendation generator data isstructured into a response data packet comprising at least one of thefollowing fields: a field indicating an energy mode of the generator forthe particular surgical procedure; a field indicating a power output ofthe generator for the particular surgical procedure; or a fieldindicating a duration of the power output of the generator for theparticular surgical procedure; verify the integrity of therecommendation generator data based on the response messageauthentication code; and send the recommendation generator data to thegenerator for implementation, via a generator module, during theparticular surgical procedure.

Example 13

The surgical hub of any one of Examples 11-12, wherein therecommendation generator data is based on generator data associated withthe particular surgical procedure as securely transmitted by theplurality of surgical hubs to the cloud-based system over time.

Example 14

A surgical hub configured to prioritize surgical data associated with asurgical procedure from a surgical device of the surgical hub to acloud-based system communicatively coupled to a plurality of surgicalhubs, the surgical hub comprising: a processor; and a memory coupled tothe processor, the memory storing instructions executable by theprocessor to: capture surgical data, wherein the surgical data comprisesdata associated with the surgical device; time-stamp the capturedsurgical data; identify a failure event; identify a time periodassociated with the failure event; isolate failure event surgical datafrom surgical data not associated with the failure event based on theidentified time period; chronologize the failure event surgical data bytime-stamp; encrypt the chronologized failure event surgical data;generate a datagram comprising the encrypted failure event surgicaldata, wherein the datagram is structured to include a field whichincludes a flag that prioritizes the encrypted failure event surgicaldata over other encrypted data of the datagram; transmit the datagram tothe cloud-based system, wherein the datagram allows for the cloud-basedsystem to: decrypt the encrypted failure event surgical data; focusanalysis on the failure event surgical data rather than surgical datanot associated with the failure event; and flag the surgical deviceassociated with the failure event for at least one of: removal from anoperating room; return to a manufacturer; future inoperability in thecloud-based system; or a download update to prevent failure events.

Example 15

The surgical hub of Example 14, wherein the surgical device comprises anend effector including a staple cartridge, wherein the captured surgicaldata comprises snapshots taken via an endoscope of the surgical hubduring a stapling portion of a surgical procedure, and whereinidentifying the failure event comprises comparing, via an imaging moduleof the surgical hub, the snapshots to images conveying correctly firedstaples to detect at least one of a misfired staple or evidence of amisfired staple.

Example 16

The surgical hub of any one of Examples 14-15, wherein the instructionsare further executable by the processor to: download a program from thecloud-based system for execution by the surgical device, whereinexecution of the program modifies the surgical device to preventmisfired staples.

Example 17

The surgical hub of any one of Examples 14-16, wherein the surgicaldevice comprises an end effector including a temperature sensor, whereinthe captured surgical data comprises at least one temperature detectedby the temperature sensor during a tissue sealing portion of a surgicalprocedure, and wherein identifying the failure event comprises comparingthe at least one detected temperature to a temperature or a range oftemperatures associated with that surgical procedure to detect aninadequate sealing temperature.

Example 18

The surgical hub of Example 17, wherein the instructions are furtherexecutable by the processor to: download a program from the cloud-basedsystem for execution by the surgical device, wherein execution of theprogram modifies the surgical device to prevent inadequate sealingtemperatures.

Example 19

The surgical hub of Example 14, wherein the identified time periodincludes a period of time prior to the failure event being identified.

Example 20

The surgical hub of any one of Examples 14-18, wherein the instructionsare further executable by the processor to: receive an action messagefrom the cloud-based system, wherein the action message indicates thesurgical device as flagged for at least one of: removal from theoperating room; return to the manufacturer; future inoperability in thecloud-based system; or the download update to prevent failure events;and provide a notification, via at least one of a user interface of thesurgical hub or a user interface of the surgical device, to perform anaction associated with the action message.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub configured to authenticate data communications withsurgical devices, the surgical hub comprising: a processor; and a memorycoupled to the processor, the memory storing instructions executable bythe processor to: detect that a surgical device is communicativelycoupled to the surgical hub; transmit a public key associated with thesurgical hub to the surgical device; receive a message from the surgicaldevice, wherein the message is encrypted using the public key associatedwith the surgical hub, wherein the encrypted message comprises a sharedsecret associated with the surgical device and a checksum functionassociated with the shared secret, and wherein the shared secretcomprises an identifier assigned to the surgical device; decrypt theencrypted message, using a private key associated with the transmittedpublic key, to reveal the shared secret and the checksum function;receive data communications from the surgical device, wherein each datacommunication is encrypted using the shared secret received from thesurgical device, and wherein each data communication comprises achecksum value, derived via the checksum function, based on the data ofeach received communication; and decrypt each data communication usingthe shared secret until the surgical device is decoupled from thesurgical hub, wherein the integrity of each data communication isverifiable based on its associated checksum value.

Example 2

The surgical hub of Example 1, wherein the identifier assigned to thesurgical device comprises a unique serial number of the surgical device.

Example 3

The surgical hub of any one of Examples 1-2, wherein the instructionsare further executable by the processor to: transmit a message to acloud-based system communicatively coupled to a plurality of surgicalhubs, wherein the message is encrypted using the public key associatedwith the cloud-based system, wherein the encrypted message comprises theshared secret associated with the surgical device, and wherein theshared secret comprises the identifier assigned to the surgical device;and transmit each data communication received from the surgical deviceto the cloud-based system, wherein each data communication is encryptedusing the shared secret received from the surgical device to allow thecloud-based system to decrypt each data communication using the sharedsecret until the surgical device is decoupled from the surgical hub.

Example 4

The surgical hub of any one of Examples 1-3, wherein the instructionsare further executable by the processor to: detect that amulti-component surgical device comprising a plurality of sub-componentsis communicatively coupled to the surgical hub, wherein eachsub-component is associated with an identifier; transmit a public keyassociated with the surgical hub to the multi-component surgical device;receive a message from the multi-component surgical device, wherein themessage is encrypted using the public key associated with the surgicalhub, wherein the encrypted message comprises a shared secret associatedwith the multi-component surgical device and a checksum functionassociated with the shared secret, and wherein the shared secretcomprises a unique string of the identifiers associated with theplurality of sub-components that combine to form the multi-componentsurgical device; decrypt the encrypted message, using a private keyassociated with the transmitted public key, to reveal the shared secretand the checksum function; receive data communications from themulti-component surgical device, wherein each data communication isencrypted using the shared secret received from the multi-componentsurgical device, and wherein each data communication comprises achecksum value, derived via the checksum function, based on the data ofeach received communication; and decrypt each data communication usingthe shared secret until the multi-component surgical device is decoupledfrom the surgical hub, wherein the integrity of each data communicationis verifiable based on its associated checksum value.

Example 5

The surgical hub of Example 4, wherein the unique string of theidentifiers associated with the plurality of sub-components that combineto form the multi-component surgical device comprises a random orderingof the identifiers associated with the plurality of sub-components.

Example 6

The surgical hub of Example 5, wherein each identifier of the uniquestring of identifiers comprises a unique serial number associated witheach respective sub-component of the multi-component surgical device.

Example 7

A surgical hub configured to authenticate data communications withsurgical devices, the surgical hub comprising a control circuitconfigured to: detect that a surgical device is communicatively coupledto the surgical hub; transmit a public key associated with the surgicalhub to the surgical device; receive a message from the surgical device,wherein the message is encrypted using the public key associated withthe surgical hub, wherein the encrypted message comprises a sharedsecret associated with the surgical device and a checksum functionassociated with the shared secret, and wherein the shared secretcomprises an identifier assigned to the surgical device; decrypt theencrypted message, using a private key associated with the transmittedpublic key, to reveal the shared secret and the checksum function;receive data communications from the surgical device, wherein each datacommunication is encrypted using the shared secret received from thesurgical device, and wherein each data communication comprises achecksum value, derived via the checksum function, based on the data ofeach received communication; and decrypt each data communication usingthe shared secret until the surgical device is decoupled from thesurgical hub, wherein the integrity of each data communication isverifiable based on its associated checksum value.

Example 8

A surgical hub configured to authenticate surgical devices coupled tothe surgical hub, the surgical hub comprising: a processor; and a memorycoupled to the processor, the memory storing instructions executable bythe processor to: detect that a surgical device is communicativelycoupled to the surgical hub; receive an encrypted identifier and asource ID from the surgical device; transmit a first message from thesurgical hub to a server of a surgical device manufacturer associatedwith the source ID, wherein the first message comprises the encryptedidentifier, and wherein the first message is encrypted using a publickey associated with the surgical device manufacturer; receive a secondmessage from the server of the surgical device manufacturer, wherein thesecond message is encrypted using a public key associated with thesurgical hub, and wherein the encrypted second message comprises ashared secret associated with the encrypted identifier of the surgicaldevice; decrypt the encrypted second message using a private keyassociated with the public key used to encrypt the second message toreveal the shared secret associated with the encrypted identifier of thesurgical device; and decrypt the encrypted identifier of the surgicaldevice using the shared secret to reveal the identifier to authenticatethe surgical device and its manufacturer.

Example 9

The surgical hub of any one of Example 8, wherein the identifiercomprises a unique serial number of the surgical device.

Example 10

The surgical hub of any one of Examples 8-9, wherein the instructionsare further executable by the processor to: compare the decryptedidentifier to a list of authorized identifiers; and permit use of thesurgical device based on a match of the decrypted identifier to anauthorized identifier in the list.

Example 11

The surgical hub of Example 10, wherein the instructions are furtherexecutable by the processor to: download the list of authorizedidentifiers from a cloud-based system communicatively coupled to aplurality of surgical hubs.

Example 12

The surgical hub of any one of Examples 8-11, wherein receiving theencrypted identifier and the source ID from the surgical devicecomprises: reading the encrypted identifier and the source ID from amemory device of the surgical device.

Example 13

The surgical hub of any one of Examples 8-12, wherein the instructionsare further executable by the processor to: read usage data from amemory device of the coupled surgical device; store at least a portionof the read usage data each time the surgical device is coupled to thesurgical hub; compare the read usage data to previously stored usagedata to identify a discrepancy in the usage data; and prevent usage ofthe surgical device with the surgical hub based on an identifieddiscrepancy.

Example 14

The surgical hub of any one of Examples 8-13, wherein the instructionsare further executable by the processor to: transmit a record of thecoupling of the surgical device and the surgical hub to at least one ofa cloud-based system or a plurality of other surgical hubscommunicatively coupled to the cloud-based system in a surgical system,wherein the record links the unique identifier assigned to the surgicaldevice to a unique identifier assigned to the surgical hub.

Example 15

The surgical hub of any one of Examples 8-14, wherein the uniqueidentifier assigned to the surgical device comprises a serial number.

Example 16

The surgical hub of any one of Examples 8-15, wherein the instructionsare further executable by the processor to: store the record of thecoupling of the surgical device and the surgical hub as a genesisrecord, wherein the genesis record comprises a timestamp.

Example 17

The surgical hub of any one of Examples 8-16, wherein the instructionsare further executable by the processor to: store a new record for eachsubsequent coupling of the surgical device to the surgical hub, whereineach new record in a chain of records associated with the surgicaldevice comprises a cryptographic hash of the most recent record, thelinkage of the unique identifier assigned to the surgical device to theunique identifier assigned to the surgical hub, and a timestamp.

Example 18

The surgical hub of any one of Examples 8-17, wherein the instructionsare further executable by the processor to: receive a record of acoupling of the surgical device to one of the plurality of othersurgical hubs communicatively coupled to the cloud-based system; andstore a new record for the coupling of the surgical device to the one ofthe plurality of other surgical hubs, wherein the new record in a chainof records associated with the surgical device comprises a cryptographichash of the most recent record, a linkage of the unique identifierassigned to the surgical device to a unique identifier assigned to theone of the plurality of other surgical hubs, and a timestamp.

Example 19

The surgical hub of Example 18, wherein the instructions are furtherexecutable by the processor to: trace couplings of the surgical deviceto the surgical hub and the plurality of other surgical hubs in thesurgical system back to the genesis record.

Example 20

The surgical hub of Example 19, wherein the instructions are furtherexecutable by the processor to: analyze the traced couplings todetermine whether past usage of the surgical device contributed to orcaused a failure event.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub for use with a surgical system in a surgical procedureperformed in an operating room, wherein the surgical hub comprises acontrol circuit configured to: pair the surgical hub with a first deviceof the surgical system; assign a first identifier to the first device;pair the surgical hub with a second device of the surgical system;assign a second identifier to the second device; and selectively pairthe first device with the second device based on perioperative data.

Example 2

The surgical hub of Example 1, further comprising a storage medium,wherein the control circuit is further configured to store a recordindicative of the pairing between the first device and the second devicein the storage medium.

Example 3

The surgical hub of any one of Examples 1-2, wherein the pairing betweenthe first device and the second device defines a communication pathwaytherebetween.

Example 4

The surgical hub of any one of Examples 1-3, wherein the pairing betweenthe first device and the second device defines a control pathway fortransmitting control actions from the second device to the first device.

Example 5

The surgical hub of any one of Examples 1-4, wherein the control circuitis further configured to: pair the surgical hub with a third device ofthe surgical system; assign a third identifier to the third device;sever the pairing between the first device and the second device; andselectively pair the first device with the third device.

Example 6

The surgical hub of any one of Examples 1-5, wherein the control circuitis further configured to store a record indicative of the pairingbetween the first device and the third device in the storage medium.

Example 7

The surgical hub of any one of Examples 1-6, wherein the pairing betweenthe first device and the third device defines a communication pathwaytherebetween.

Example 8

The surgical hub of any one of Examples 1-7, wherein the pairing betweenthe first device and the third device defines a control pathway fortransmitting control actions from the third device to the first device.

Example 9

A surgical hub for use with a surgical system in a surgical procedureperformed in an operating room, wherein the surgical hub comprises: aprocessor; and a memory coupled to the processor, the memory storinginstructions executable by the processor to: pair the surgical hub witha first device of the surgical system; assign a first identifier to thefirst device; pair the surgical hub with a second device of the surgicalsystem; assign a second identifier to the second device; and selectivelypair the first device with the second device based on perioperativedata.

Example 10

The surgical hub of Example 9, a record indicative of the pairingbetween the first device and the second device is stored in the memory.

Example 11

The surgical hub of any one of Examples 9-10, wherein the pairingbetween the first device and the second device defines a communicationpathway therebetween.

Example 12

The surgical hub of any one of Examples 9-11, wherein the pairingbetween the first device and the second device defines a control pathwayfor transmitting control actions from the second device to the firstdevice.

Example 13

The surgical hub of any one of Examples 9-12, wherein the controlcircuit is further configured to: pair the surgical hub with a thirddevice of the surgical system; assign a third identifier to the thirddevice; sever the pairing between the first device and the seconddevice; and selectively pair the first device with the third device.

Example 14

The surgical hub of any one of Examples 9-13, wherein a recordindicative of the pairing between the first device and the third deviceis stored in the memory.

Example 15

The surgical hub of any one of Examples 9-14, wherein the pairingbetween the first device and the third device defines a communicationpathway therebetween.

Example 16

The surgical hub of any one of Examples 9-15, wherein the pairingbetween the first device and the third device defines a control pathwayfor transmitting control actions from the third device to the firstdevice.

Example 17

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: pair a surgicalhub with a first device of a surgical system; assign a first identifierto the first device; pair the surgical hub with a second device of thesurgical system; assign a second identifier to the second device; andselectively pair the first device with the second device based onperioperative data.

Example 18

The non-transitory computer readable medium of Example 17, wherein thepairing between the first device and the second device defines a controlpathway for transmitting control actions from the second device to thefirst device.

Example 19

The non-transitory computer readable medium of any one of Examples17-18, wherein the computer readable instructions, when executed,further cause a machine to: pair the surgical hub with a third device ofthe surgical system; assign a third identifier to the third device;sever the pairing between the first device and the second device; andselectively pair the first device with the third device.

Example 20

The non-transitory computer readable medium of any one of Examples17-19, wherein the pairing between the first device and the third devicedefines a control pathway for transmitting control actions from thethird device to the first device.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub for use with a surgical system in a surgical procedureperformed in an operating room, wherein the surgical hub comprises acontrol circuit configured to: determine bounds of the operating room;determine devices of the surgical system located within the bounds ofthe operating room; and pair the surgical hub with the devices of thesurgical system located within the bounds of the operating room.

Example 2

The surgical hub of any one of Example 1, wherein the step ofdetermining devices of the surgical system comprises: detecting apotential device of the surgical system; and assessing whether thepotential device of the surgical system is within the bounds of theoperating room or outside the bounds of the operating room.

Example 3

The surgical hub of any one of Examples 1-2, wherein the control circuitis configured to determine the bounds of the operating room afteractivation of the surgical hub.

Example 4

The surgical hub of any one of Examples 1-3, wherein the control circuitis configured to redetermine the bounds of the operating room afterdetermining that the surgical hub has been moved.

Example 5

The surgical hub of any one of Examples 1-4, wherein the control circuitis configured to redetermine the bounds of the operating room after apotential device of the surgical system is detected.

Example 6

The surgical hub of any one of Examples 1-5, wherein the control circuitis configured to periodically determine the bounds of the operatingroom.

Example 7

The surgical hub of any one of Examples 1-6, comprising non-contactsensors configured to measure the bounds of the operating room.

Example 8

A surgical hub for use with a surgical system in a surgical procedureperformed in an operating room, wherein the surgical hub comprises: aprocessor; and a memory coupled to the processor, the memory storinginstructions executable by the processor to: determine bounds of theoperating room; determine devices of the surgical system located withinthe bounds of the operating room; and pair the surgical hub with thedevices of the surgical system located within the bounds of theoperating room.

Example 9

The surgical hub of Example 8, wherein the step of determining devicesof the surgical system comprises: detecting a potential device of thesurgical system; and assessing whether the potential device of thesurgical system is within the bounds of the operating room or outsidethe bounds of the operating room.

Example 10

The surgical hub of any one of Examples 8-9, wherein the memory furtherstores instructions executable by the processor to determine the boundsof the operating room after activation of the surgical hub.

Example 11

The surgical hub of any one of Examples 8-10, wherein the memory furtherstores instructions executable by the processor to redetermine thebounds of the operating room after determining that the surgical hub hasbeen moved.

Example 12

The surgical hub of any one of Examples 8-11, wherein the memory furtherstores instructions executable by the processor to redetermine thebounds of the operating room after a potential device of the surgicalsystem is detected.

Example 13

The surgical hub of any one of Examples 8-12, wherein the memory furtherstores instructions executable by the processor to periodicallydetermine the bounds of the operating room.

Example 14

The surgical hub of any one of Examples 8-13, comprising non-contactsensors configured to measure the bounds of the operating room.

Example 15

A non-transitory computer readable medium storing computer readableinstructions which, when executed, cause a machine to: determine boundsof an operating room; determine devices of a surgical system locatedwithin the bounds of the operating room; and pair a surgical hub withthe devices of the surgical system located within the bounds of theoperating room.

Example 16

The non-transitory computer readable medium of Example 15, wherein thestep of determining devices of the surgical system comprises: detectinga potential device of the surgical system; and assessing whether thepotential device of the surgical system is within the bounds of theoperating room or outside the bounds of the operating room.

Example 17

The non-transitory computer readable medium of any one of Examples15-16, wherein the computer readable instructions, when executed,further cause a machine to determine the bounds of the operating roomafter activation of the surgical hub.

Example 18

The non-transitory computer readable medium of any one of Examples15-17, wherein the computer readable instructions, when executed,further cause a machine to redetermine the bounds of the operating roomafter determining that the surgical hub has been moved.

Example 19

The non-transitory computer readable medium of any one of Examples15-18, wherein the computer readable instructions, when executed,further cause a machine to redetermine the bounds of the operating roomafter a potential device of the surgical system is detected.

Example 20

The non-transitory computer readable medium of any one of Examples15-19, wherein the computer readable instructions, when executed,further cause a machine to periodically determine the bounds of theoperating room.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub for use with a medical imaging device at a remotesurgical site in a surgical procedure, wherein the surgical hubcomprises a circuit configured to: receive a livestream of the surgicalsite from the medical imaging device; capture an image frame of asurgical step of the surgical procedure from the livestream; deriveinformation relevant to the surgical step from data extracted from theimage frame; and overlay the information onto the livestream.

Example 2

The surgical hub of Example 1, wherein the information is regardingcompletion of the surgical step.

Example 3

The surgical hub of any one of Examples 1-2, wherein the surgical stepcomprises deploying staples from a staple cartridge into tissue at thesurgical site.

Example 4

The surgical hub of any one of Examples 1-3, wherein the informationidentifies the staple cartridge.

Example 5

The surgical hub of any one of Examples 1-4, wherein the informationcomprises a serial number of the staple cartridge.

Example 6

The surgical hub of any one of Examples 1-5, wherein the informationidentifies a leak at the surgical site.

Example 7

The surgical hub of any one of Examples 1-7, wherein the informationidentifies the surgical step.

Example 8

A surgical hub for use with a medical imaging device at a remotesurgical site in a surgical procedure including surgical steps, whereinthe surgical hub comprises a circuit configured to: receive a livestreamof the surgical site from the medical imaging device; capture imageframes of the surgical steps of the surgical procedure from thelivestream; and differentiate among the surgical steps based on dataextracted from the image frames.

Example 9

The surgical hub of Example 8, derive information regarding completionof the surgical steps from the data extracted from the image frames.

Example 10

The surgical hub of any one of Examples 8-9, wherein one of the surgicalsteps comprises deploying staples from a staple cartridge into tissue atthe surgical site.

Example 11

The surgical hub of any one of Examples 8-10, wherein the informationidentifies the staple cartridge.

Example 12

The surgical hub of any one of Examples 8-11, wherein the informationcomprises a serial number of the staple cartridge.

Example 13

The surgical hub of any one of Examples 8-12, wherein the informationidentifies a leak at the surgical site.

Example 14

The surgical hub of any one of Examples 8-10, wherein another one of thesurgical steps comprises applying energy to tissue at the surgical site.

Example 15

A surgical hub for use with a medical imaging device at a remotesurgical site in a surgical procedure, wherein the surgical hubcomprises a circuit configured to: receive a livestream of the surgicalsite from the medical imaging device; capture an image frame from thelivestream; detect a staple pattern in the image frame, wherein thestaple pattern is defined by staples deployed from a staple cartridgeinto tissue at the surgical site; and identify the staple cartridgebased on the staple pattern.

Example 16

The surgical hub of Example 15, wherein the staple pattern correspondsto a serial number of the staple cartridge.

Example 17

The surgical hub of any one of Examples 15-16, wherein the staplescomprise a first staple and a second staple different than the firststaple.

Example 18

The surgical hub of any one of Examples 15-17, wherein the first stapleis comprised of a non-ionized material.

Example 19

The surgical hub of any one of Examples 15-18, wherein the second stapleis comprised of an ionized material.

Example 20

The surgical hub of any one of Examples 15-19, wherein the staplepattern is defined in a plurality of rows of staples.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub for use with a surgical system in a surgical procedureperformed in an operating room, wherein the surgical hub comprises:non-contact sensors; and a control circuit configured to: determinebounds of the operating room based on measurements performed by thenon-contact sensors; and establish a control arrangement with a detectedsurgical hub located within the bounds of the operating room.

Example 2

The surgical hub of Example 1, wherein the control arrangement is amaster-slave arrangement.

Example 3

The surgical hub of any one of Examples 1-2, wherein the control circuitis configured to select one of a master mode of operation or a slavemode of operation in the master-slave arrangement.

Example 4

The surgical hub of any one of Examples 1-3, wherein the control circuitis configured to surrender control of at least one surgical instrumentto the detected surgical hub in the slave mode of operation.

Example 5

The surgical hub of any one of Examples 1, wherein the controlarrangement is a peer-to-peer arrangement.

Example 6

The surgical hub of Example 1-5, wherein the non-contact sensors areultrasonic sensors.

Example 7

The surgical hub of Example 1-5, wherein the non-contact sensors arelaser sensors.

Example 8

A surgical hub for use with a surgical system in a surgical procedureperformed in an operating room, wherein the surgical hub comprises:non-contact sensors; a processor; and a memory coupled to the processor,the memory storing instructions executable by the processor to:determine bounds of the operating room based on measurements performedby the non-contact sensors; and establish a control arrangement with adetected surgical hub located within the bounds of the operating room.

Example 9

The surgical hub of Example 8, wherein the control arrangement is amaster-slave arrangement.

Example 10

The surgical hub of Example 9, wherein the control circuit is configuredto select one of a master mode of operation or a slave mode of operationin the master-slave arrangement.

Example 11

The surgical hub of Example 10, wherein the control circuit isconfigured to surrender control of at least one surgical instrument tothe detected surgical hub in the slave mode of operation.

Example 12

The surgical hub of Example 11, wherein the control arrangement is apeer-to-peer arrangement.

Example 13

The surgical hub of anyone of Examples 8-12, wherein the non-contactsensors are ultrasonic sensors.

Example 14

The surgical hub of Example 8, wherein the non-contact sensors are lasersensors.

Example 15

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: determine boundsof an operating room; and establish a control arrangement with adetected surgical hub located within the bounds of the operating room.

Example 16

The non-transitory computer readable medium of Example 15, wherein thecontrol arrangement is a master-slave arrangement.

Example 17

The non-transitory computer readable medium of any one of Examples15-16, wherein the computer readable instructions, when executed,further causes the machine to select one of a master mode of operationor a slave mode of operation in the master-slave arrangement.

Example 18

The non-transitory computer readable medium of any one of Examples15-17, wherein the computer readable instructions, when executed,further causes the machine to surrender control of at least one surgicalinstrument to the detected surgical hub in the slave mode of operation.

Example 19

The non-transitory computer readable medium of any one of Examples15-18, wherein the control arrangement is a peer-to-peer arrangement.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub, comprising: a processor; a memory coupled to theprocessor, the memory storing instructions executable by the processorto: interrogate a modular device coupled to the processor via a modularcommunication hub, wherein the modular device is a source of data setsthat include patient identity data and surgical procedure data; receivea data set from the modular device; discard the patient identity dataand any portion of the surgical procedure data that identifies thepatient from the data set; extract anonymous data from the data set andcreate an anonymized data set; and configure operation of the surgicalhub or the modular device based on the anonymized data set.

Example 2

The surgical hub of Example 1, wherein the anonymized data set includescatastrophic failure of a modular device, and wherein the memory storesinstructions executable by the processor to initiate automatic archiveand submission of data for implications analysis based on thecatastrophic failure of the modular device.

Example 3

The surgical hub of any one of Examples 1-2, wherein the memory storesinstructions executable by the processor to detect counterfeit componentinformation from the anonymized data set.

Example 4

The surgical hub of any one of Examples 1-3, wherein the memory storesinstructions executable by the processor to derive implications of themodular device from the anonymized data set.

Example 5

The surgical hub of any one of Examples 1-4, wherein the memory storesinstructions executable by the processor to configure the modular deviceto operate based on the derived implications.

Example 6

The surgical hub of any one of Examples 1-5, wherein the memory storesinstructions executable by the processor to configure the surgical hubbased on the derived implications.

Example 7

The surgical hub of any one of Examples 1-6, wherein the memory storesinstructions executable by the processor to conglomerate the anonymizeddata.

Example 8

The surgical hub of any one of Examples 1-7, wherein the memory storesinstructions executable by the processor to extract the anonymized dataprior to storing the received data in a storage device coupled to thesurgical hub.

Example 9

The surgical hub of any one of Examples 1-8, wherein the memory storesinstructions executable by the processor to: transmit the anonymizeddata to a remote network outside of the surgical hub; compile theanonymized data at the remote network; and store a copy of the data setfrom the modular device in a patient electronic medical recordsdatabase.

Example 10

The surgical hub of any one of Examples 1-9, comprising a modularcommunication hub coupled to the processor, the modular communicationhub configured to connect modular devices located in one or moreoperating theaters to the surgical hub.

Example 11

A method of stripping data originating from a modular device coupled toa surgical hub by a communication hub, the surgical hub comprising aprocessor and a memory coupled to the processor, the memory storinginstructions executable by the processor, the method comprising:interrogating, by a processor, a modular device coupled to the processorvia a modular communication hub, wherein the modular communication hubis configured to connect modular devices located in one or moreoperating theaters to a surgical hub, wherein the modular device is asource of data sets that include patient identity data and surgicalprocedure data; receiving, by the processor, a data set from the modulardevice by the processor via the communication hub; discarding, by theprocessor, the patient identity data and any portion of the surgicalprocedure data that identifies the patient from the data set;extracting, by the processor, anonymous data from the data set andcreate an anonymized data set; and configuring, by the processor,operation of the surgical hub or the modular device based on theanonymized data set.

Example 12

The method of Example 11, comprising: initiating, by the processor,automatic archive and submission of data for implications analysis basedon the catastrophic failure of the modular device wherein the anonymizeddata set includes catastrophic failure of a modular device.

Example 13

The method of any one of Examples 11-12, comprising by the processor,detecting counterfeit component information from the anonymized dataset.

Example 14

The method of any one of Examples 11-13, comprising derivingimplications of the modular device from the anonymized data set.

Example 15

The method of Example 14, comprising configuring, by the processor, themodular device to operate based on the derived implications.

Example 16

The method of any one of Examples 14-15, comprising configuring, by theprocessor, the surgical hub based on the derived implications.

Example 17

The method of any one of Examples 14-16, comprising, conglomerating bythe processor, the anonymized data.

Example 18

The method of Example 11, extracting, by the processor, the anonymizeddata prior to storing the received data in a storage device coupled tothe surgical hub.

Example 19

The method of Example 11, comprising: transmitting, by the processor,the anonymized data to a remote network outside of the surgical hub;compiling, by a server at the remote network, the anonymized data at theremote network; and storing, by the processor, a copy of the data setfrom the modular device in a patient electronic medical recordsdatabase.

Example 20

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: interrogate amodular device coupled to the processor via the modular communicationhub, wherein the modular device is a source of data sets that includepatient identity data and surgical procedure data; receive a data setfrom the modular device; discard the patient identity data and anyportion of the surgical procedure data that identifies the patient fromthe data set; extract anonymous data from the data set and create ananonymized data set; and configure operation of the surgical hub or themodular device based on the anonymized data set.

Example 21

The non-transitory computer readable medium of Example 20, storingcomputer readable instructions which, when executed, causes a machine toderive implications of the modular device from the anonymized data set.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub comprising: a storage device; a processor coupled to thestorage device; and a memory coupled to the processor, the memorystoring instructions executable by the processor to: receive data from asurgical instrument coupled to the surgical hub; and determine a rate atwhich to transfer the data from the surgical hub to a remote cloud-basedmedical analytics network based on available storage capacity of thestorage device.

Example 2

The surgical hub of Example 1, wherein the memory stores instructionsexecutable by the processor to determine a frequency at which totransfer the data from the surgical hub to the remote cloud-basedmedical analytics network based on the available storage capacity of thestorage device.

Example 3

The surgical hub of any one of Examples 1-2, wherein the memory storesinstructions executable by the processor to: detect surgical hub networkdown time; and determine a frequency at which to transfer the data fromthe surgical hub to the remote cloud-based medical analytics networkbased on the detected surgical hub network down time.

Example 4

The surgical hub of any one of Examples 1-3, wherein the memory storesinstructions executable by the processor to determine a type of data totransfer from the surgical hub to the remote cloud-based medicalanalytics network based on inclusion or exclusion of data associatedwith a users, patient, or surgical procedure.

Example 5

The surgical hub of any one of Examples 1-4, wherein the memory storesinstructions executable by the processor to determine when to transferdata from the surgical hub to the remote cloud-based medical analyticsnetwork.

Example 6

The surgical hub of any one of Examples 1-5, wherein the memory storesinstructions executable by the processor to receive new operationalparameters for the surgical hub from the remote cloud-based medicalanalytics network.

Example 7

The surgical hub of any one of Examples 1-6, wherein the memory storesinstructions executable by the processor to receive new operationalparameters for the surgical instrument from the remote cloud-basedmedical analytics network.

Example 8

A method of transmitting data from a surgical hub to a remotecloud-based medical analytics network, the surgical hub comprising astorage device, a processor coupled to the storage device, and a memorycoupled to the processor, the memory storing instructions executable bythe processor, the method comprising: receiving, by a processor, datafrom a surgical instrument coupled to the surgical hub; and determining,by the processor, a rate at which to transfer the data from the surgicalhub to the remote cloud-based medical analytics network based onavailable storage capacity of a storage device coupled to the surgicalhub.

Example 9

The method of Example 8, comprising determining, by the processor, afrequency at which to transfer the data from the surgical hub to theremote cloud-based medical analytics network based on the availablestorage capacity of the storage device

Example 10

The method of any one of Examples 8-9, comprising: detecting, by theprocessor, surgical hub network down time; and determining, by theprocessor, a frequency at which to transfer the data from the surgicalhub to the remote cloud-based medical analytics network based on thedetected surgical hub network down time.

Example 11

The method of any one of Examples 8-10, comprising determining, by theprocessor, a type of data to transfer from the surgical hub to theremote cloud-based medical analytics network based on inclusion orexclusion of data associated with a users, patient, or surgicalprocedure.

Example 12

The method of any one of Examples 8-11, comprising determining, by theprocessor, when to transfer the data from the surgical hub to the remotecloud-based medical analytics network.

Example 13

The method of any one of Examples 8-12, comprising receiving, by theprocessor, new operational parameters for the surgical hub from theremote cloud-based medical analytics network.

Example 14

The method of any one of Examples 8-13, comprising receiving, by theprocessor, new operational parameters for the surgical instrument fromthe remote cloud-based medical analytics network.

Example 15

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: receive datafrom a surgical instrument coupled to the surgical hub; and determine arate at which to transfer the data from the surgical hub to a remotecloud-based medical analytics network based on available storagecapacity of the storage device.

Example 16

The non-transitory computer readable medium of Example 15, storingcomputer readable instructions which, when executed, causes a machine todetermine a frequency at which to transfer the data from the surgicalhub to the remote cloud-based medical analytics network based on theavailable storage capacity of the storage device.

Example 17

The non-transitory computer readable medium of any one of Examples15-16, storing computer readable instructions which, when executed,causes a machine to: detect surgical hub network down time; anddetermine a frequency at which to transfer the data from the surgicalhub to the remote cloud-based medical analytics network based on thedetected surgical hub network down time.

Example 18

The non-transitory computer readable medium of any one of Examples15-17, storing computer readable instructions which, when executed,causes a machine to determine a type of data to transfer from thesurgical hub to the remote cloud-based medical analytics network basedon inclusion or exclusion of data associated with a users, patient, orsurgical procedure.

Example 19

The non-transitory computer readable medium of any one of Examples15-18, storing computer readable instructions which, when executed,causes a machine to determine when to transfer data from the surgicalhub to the remote cloud-based medical analytics network.

Example 20

The non-transitory computer readable medium of any one of Examples15-19, storing computer readable instructions which, when executed,causes a machine to receive new operational parameters for the surgicalhub from the remote cloud-based medical analytics network.

Example 21

The non-transitory computer readable medium of any one of Examples15-20, storing computer readable instructions which, when executed,causes a machine to receive new operational parameters for the surgicalinstrument from the remote cloud-based medical analytics network.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub, comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: receive a first self-describing data packet from a first datasource, the first self-describing data packet comprising a firstpreamble, a first data payload, a source of the first data payload, anda first encryption certificate, wherein the first preamble defines thefirst data payload and the first encryption certificate verifies theauthenticity of the first data packet; parse the received firstpreamble; and interpret the first data payload based on the firstpreamble.

Example 2

The surgical hub of Example 1, wherein the memory stores instructionsexecutable by the processor to: receive a second self-describing datapacket from a second data source, the second self-describing data packetcomprising a second preamble, a second data payload, a source of thesecond data payload, and a second encryption certificate, wherein thesecond preamble defines the second data payload and the secondencryption certificate verifies the authenticity of the second datapacket; parse the received second preamble; interpret the second datapayload based on the second preamble; associate the first and secondself-describing data packets; and generate a third self-describing datapacket comprising the first and second data payloads.

Example 3

The surgical hub of any one of Examples 1-2, wherein the memory storesinstructions executable by the processor to anonymize the data payloadof the third self-describing data packet.

Example 4

The surgical hub of any one of Examples 1-3, wherein the memory storesinstructions executable by the processor to: determine that a datapayload was generated by a new data source; verify the new data sourceof the data payload; and alter a data collection process at the surgicalhub to receive subsequent data packets from the new data source.

Example 5

The surgical hub of any one of Examples 1-4, wherein the memory storesinstructions executable by the processor to associate the first andsecond self-describing data packets based on a key.

Example 6

The surgical hub of any one of Examples 1-5, wherein the memory storesinstructions executable by the processor to: receive an anonymized thirdself-describing data packet; and reintegrate the anonymized thirdself-describing data packet into the first and second self-describingdata packets using the key.

Example 7

A surgical hub, comprising: a control circuit configured to: receive afirst self-describing data packet from a first data source, the firstself-describing data packet comprising a first preamble, a first datapayload, a source of the first data payload, and a first encryptioncertificate, wherein the first preamble defines the first data payloadand the first encryption certificate verifies the authenticity of thefirst data packet; parse the received first preamble; and interpret thefirst data payload based on the first preamble.

Example 8

The surgical hub of Example 7, wherein the control circuit is furtherconfigured: receive a second self-describing data packet from a seconddata source, the second self-describing data packet comprising a secondpreamble, a second data payload, a source of the second data payload,and a second encryption certificate, wherein the second preamble definesthe second data payload and the second encryption certificate verifiesthe authenticity of the second data packet; parse the received secondpreamble; interpret the second data payload based on the secondpreamble; associate the first and second self-describing data packets;and generate a third self-describing data packet comprising the firstand second data payloads.

Example 9

The surgical hub of any one of Examples 7-8, wherein the control circuitis further configured to anonymize the data payload of the thirdself-describing data packet.

Example 10

The surgical hub of any one of Examples 7-9, wherein the control circuitis further configured to: determine that a data payload was generated bya new data source; verify the new data source of the data payload; andalter a data collection process at the surgical hub to receivesubsequent data packets from the new data source.

Example 11

The surgical hub of any one of Examples 7-10, wherein the controlcircuit is further configured to associate the first and secondself-describing data packets based on a key.

Example 12

The surgical hub of any one of Examples 7-11, wherein the controlcircuit is further configured to: receive an anonymized thirdself-describing data packet; and reintegrate the anonymized thirdself-describing data packet into the first and second self-describingdata packets using the key.

Example 13

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: receive a firstself-describing data packet from a first data source, the firstself-describing data packet comprising a first preamble, a first datapayload, a source of the first data payload, and a first encryptioncertificate, wherein the first preamble defines the first data payloadand the first encryption certificate verifies the authenticity of thefirst data packet; parse the received first preamble; and interpret thefirst data payload based on the first preamble.

Example 14

The non-transitory computer-readable medium of Example 13, storingcomputer readable instructions which, when executed, causes a machineto: receive a second self-describing data packet from a second datasource, the second self-describing data packet comprising a secondpreamble, a second data payload, a source of the second data payload,and a second encryption certificate, wherein the second preamble definesthe second data payload and the second encryption certificate verifiesthe authenticity of the second data packet; parse the received secondpreamble; interpret the second data payload based on the secondpreamble; associate the first and second self-describing data packets;and generate a third self-describing data packet comprising the firstand second data payloads.

Example 15

The non-transitory computer-readable medium of any one of Examples13-14, storing computer readable instructions to anonymize the datapayload of the third self-describing data packet.

Example 16

The non-transitory computer-readable medium of any one of Examples13-15, storing computer readable instructions to: determine that a datapayload was generated by a new data source; verify the new data sourceof the data payload; and alter a data collection process at the surgicalhub to receive subsequent data packets from the new data source.

Example 17

The non-transitory computer-readable medium of any one of Examples13-16, storing computer readable instructions to associate the first andsecond self-describing data packets based on a key.

Example 18

The non-transitory computer-readable medium of any one of Examples13-17, storing computer readable instructions to: receive an anonymizedthird self-describing data packet; and reintegrate the anonymized thirdself-describing data packet into the first and second self-describingdata packets using the key.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub configured to communicate with a surgical instrument, thesurgical hub comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: receive a first data set associated with a surgical procedure,wherein the first data set is generated at a first time; receive asecond data set associated with the efficacy of the surgical procedure,wherein the second data set is generated at a second time, wherein thesecond time is separate and distinct from the first time; anonymize thefirst and second data sets by removing information that identifies apatient, a surgery, or a scheduled time of the surgery; and store thefirst and second anonymized data sets to generate a data pair grouped bysurgery.

Example 2

The surgical hub of Example 1, wherein the memory stores instructionsexecutable by the processor to reconstruct a series of chronologicalevents based on the data pair.

Example 3

The surgical hub of any one of Examples 1-2, wherein the memory storesinstructions executable by the processor to reconstruct a series ofcoupled but unconstrained data sets based on the data pair.

Example 4

The surgical hub of any one of Examples 1-3, wherein the memory storesinstructions executable by the processor to: encrypt the data pair;define a backup format for the data pair; and mirror the data pair to acloud storage device.

Example 5

A surgical hub configured to communicate with a surgical instrument, thesurgical hub comprising: a control circuit configured to: receive afirst data set associated with a surgical procedure, wherein the firstdata set is generated at a first time; receive a second data setassociated with the efficacy of the surgical procedure, wherein thesecond data set is generated at a second time, wherein the second timeis separate and distinct from the first time; anonymize the first andsecond data sets by removing information that identifies a patient, asurgery, or a scheduled time of the surgery; and store the first andsecond anonymized data sets to generate a data pair grouped by surgery.

Example 6

The surgical hub of Example 5, wherein the control circuit is furtherconfigured to reconstruct a series of chronological events based on thedata pair.

Example 7

The surgical hub of any one of Examples 5-6, wherein the control circuitis further configured to reconstruct a series of coupled butunconstrained data sets based on the data pair.

Example 8

The surgical hub of any one of Examples 5-7, wherein the control circuitis further configured to: encrypt the data pair; define a backup formatfor the data pair; and mirror the data pair to a cloud storage device.

Example 9

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: receive a firstdata set associated with a surgical procedure, wherein the first dataset is generated at a first time; receive a second data set associatedwith the efficacy of the surgical procedure, wherein the second data setis generated at a second time, wherein the second time is separate anddistinct from the first time; anonymize the first and second data setsby removing information that identifies a patient, a surgery, or ascheduled time of the surgery; and store the first and second anonymizeddata sets to generate a data pair grouped by surgery.

Example 10

The non-transitory computer-readable medium of Example 9, storingcomputer readable instructions which, when executed, causes a machine toreconstruct a series of chronological events based on the data pair.

Example 11

The surgical hub of any one of Examples 9-10, storing computer readableinstructions which, when executed, causes a machine to reconstruct aseries of coupled but unconstrained data sets based on the data pair.

Example 12

The surgical hub of any one of any one of Examples 9-11, storingcomputer readable instructions which, when executed, causes a machineto: encrypt the data pair; define a backup format for the data pair; andmirror the data pair to a cloud storage device.

Example 13

A surgical hub, comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: interrogate a surgical instrument, wherein the surgical instrumentis a first source of patient data; retrieve a first data set from thesurgical instrument, wherein the first data set is associated with apatient and a surgical procedure; interrogate a medical imaging device,wherein the medical imaging device is a second source of patient data;retrieve a second data set from the medical imaging device, wherein thesecond data set is associated with the patient and an outcome of thesurgical procedure; associate the first and second data sets by a key;and transmit the associated first and second data sets to remote networkoutside of the surgical hub.

Example 14

The surgical hub of Example 13, wherein the memory stores instructionsexecutable by the processor to: retrieve the first data set using thekey; anonymize the first data set by removing patient information fromthe first data set; retrieve the second data set using the key;anonymize the second data set by removing patient information from thesecond data set; pair the anonymized first and second data sets; anddetermine success rates of surgical procedures grouped by the surgicalprocedure based on the anonymized paired first and second data sets.

Example 15

The surgical hub of any one of Examples 13-14, wherein the memory storesinstructions executable by the processor to: retrieve the anonymizedfirst data set; retrieve the anonymized second data set; and reintegratethe anonymized first and second data sets using the key.

Example 16

The surgical hub of any one of Examples 13-15, wherein the first andsecond data sets define first and second data payloads in respectivefirst and second data packets.

Example 17

The surgical hub of any one of Examples 13-16, wherein the memory storesinstructions executable by the processor to retrieve information from anelectronic medical records database.

Example 18

The surgical hub of any one of Examples 13-17, wherein the memory storesinstructions executable by the processor to anonymize the informationretrieved from the electronic medical records database by removingpatient information from the information retrieved from the electronicmedical records database.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub configured to communicably couple to a data source and amodular device, the surgical hub comprising: a processor; and a memorycoupled to the processor, the memory storing instructions that, whenexecuted by the processor, cause the surgical hub to: receiveperioperative data from the data source, wherein the perioperative datacomprises data detected by the data source during the course of asurgical procedure; determine contextual information regarding thesurgical procedure according to the perioperative data; determinecontrol adjustments for the modular device according to the contextualinformation; and control the modular device according to the controladjustments.

Example 2

The surgical hub of any one of Example 1, wherein the data sourcecomprises a first modular device and the modular device comprises asecond modular device.

Example 3

The surgical hub of any one of Examples 1-2, wherein the data sourcecomprises a patient monitoring device.

Example 4

The surgical hub of any one of Examples 1-3, wherein the contextualinformation comprises a procedural type of the surgical procedure.

Example 5

The surgical hub of any one of Examples 1-4, wherein the contextualinformation comprises a procedural step of the surgical procedure.

Example 6

The surgical hub of any one of Examples 1-5, wherein the perioperativedata comprises a parameter associated with the modular device.

Example 7

The surgical hub of any one of Examples 1-6, wherein the perioperativedata comprises a parameter associated with a patient.

Example 8

A surgical hub configured to communicably couple to a data source and amodular device, the surgical hub comprising a control circuit configuredto receive perioperative data from the data source, wherein theperioperative data comprises data detected by the data source during thecourse of a surgical procedure; determine contextual informationregarding the surgical procedure according to the perioperative data;determine control adjustments for the modular device according to thecontextual information; and control the modular device according to thecontrol adjustments.

Example 9

The surgical hub of any one of Example 8, wherein the data sourcecomprises a first modular device and the modular device comprises asecond modular device.

Example 10

The surgical hub of any one of Examples 8-9, wherein the data sourcecomprises a patient monitoring device.

Example 11

The surgical hub of any one of Examples 8-10, wherein the contextualinformation comprises a procedural type of the surgical procedure.

Example 12

The surgical hub of any one of Examples 8-11, wherein the contextualinformation comprises a procedural step of the surgical procedure.

Example 13

The surgical hub of any one of Examples 8-12, wherein the perioperativedata comprises a parameter associated with the modular device.

Example 14

The surgical hub of any one of Examples 8-13, wherein the perioperativedata comprises a parameter associated with a patient.

Example 15

A non-transitory computer readable medium storing computer readableinstructions thereon that, when executed by a surgical hub configured tocommunicably couple to a data source and a modular device, causes thesurgical hub to receive perioperative data from the data source, whereinthe perioperative data comprises data detected by the data source duringthe course of a surgical procedure; determine contextual informationregarding the surgical procedure according to the perioperative data;determine control adjustments for the modular device according to thecontextual information; and control the modular device according to thecontrol adjustments.

Example 16

The surgical hub of any one of Examples 15, wherein the data sourcecomprises a first modular device and the modular device comprises asecond modular device.

Example 17

The surgical hub of any one of Examples 15-16, wherein the data sourcecomprises a patient monitoring device.

Example 18

The surgical hub of any one of Examples 15-17, wherein the contextualinformation comprises a procedural type of the surgical procedure.

Example 19

The surgical hub of any one of Examples 15-18, wherein the contextualinformation comprises a procedural step of the surgical procedure.

Example 20

The surgical hub of any one of Examples 15-19, wherein the perioperativedata comprises a parameter associated with the modular device.

Example 21

The surgical hub of any one of Examples 15-20, wherein the perioperativedata comprises a parameter associated with a patient.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A system comprising a surgical hub configured to communicably couple toa modular device comprising a sensor configured to detect dataassociated with the modular device and a device processor, the surgicalhub comprising: a hub processor; and a hub memory coupled to the hubprocessor; and a distributed control system executable at least in partby each of the device processor and the hub processor, the distributedcontrol system configured to: receive the data detected by the sensor;determine control adjustments for the modular device according to thedata; and control the modular device according to the controladjustments; wherein in a first mode the distributed control system isexecuted by both the hub processor and the device processor, and in asecond mode the distributed control system is executed solely by thedevice processor.

Example 2

The system of any one of Examples 1, wherein the distributed controlsystem is configured to shift from the first mode to the second modewhen a sampling rate of the sensor is greater than a data transmissionrate from the modular device to the surgical hub.

Example 3

The system of any one of Examples 1-2, wherein the distributed controlsystem is configured to shift from the second mode to the first modewhen a sampling rate of the sensor is less than a data transmission ratefrom the modular device to the surgical hub.

Example 4

The system of any one of Examples 1-3, wherein the modular devicecomprises a radiofrequency (RF) electrosurgical instrument and thedistributed control system is configured to control an energy level ofthe RF electrosurgical instrument.

Example 5

The system of any one of Examples 1-4, wherein the modular devicecomprises a surgical cutting and stapling instrument and the distributedcontrol system is configured to control a rate at which a motor of thesurgical cutting and stapling instrument drives a knife.

Example 6

A system comprising: a modular device configured to communicably coupleto a surgical hub comprising a hub processor, the modular devicecomprising: a sensor configured to detect data associated with themodular device; a device memory; and a device processor coupled to thedevice memory and the sensor; and a distributed control systemexecutable at least in part by each of the device processor and the hubprocessor, the distributed control system configured to: receive thedata detected by the sensor; determine control adjustments for themodular device according to the data; and control the modular deviceaccording to the control adjustments; wherein in a first mode thedistributed control system is executed by both the hub processor and thedevice processor, and in a second mode the distributed control system isexecuted solely by the device processor.

Example 7

The system of any one of Examples 6, wherein the distributed controlsystem is configured to shift from the first mode to the second modewhen a sampling rate of the sensor is greater than a data transmissionrate from the modular device to the surgical hub.

Example 8

The system of any one of Examples 6-7, wherein the distributed controlsystem is configured to shift from the second mode to the first modewhen a sampling rate of the sensor is less than a data transmission ratefrom the modular device to the surgical hub.

Example 9

The system of any one of Examples 6-8, wherein the modular devicecomprises a radiofrequency (RF) electrosurgical instrument and thedistributed control system is configured to control an energy level ofthe RF electrosurgical instrument.

Example 10

The system of any one of Examples 6-9, wherein the modular devicecomprises a surgical cutting and stapling instrument and the distributedcontrol system is configured to control a rate at which a motor of thesurgical cutting and stapling instrument drives a knife.

Example 11

A system configured to control a modular device comprising a sensorconfigured to detect data associated with the modular device, the systemcomprising: a first surgical hub configured to communicably couple tothe modular device and to a second surgical hub comprising a secondprocessor, the first surgical hub comprising: a memory; and a firstprocessor coupled to the memory; and a distributed control systemexecutable at least in part by each of the first processor and thesecond processor, the distributed control system configured to: receivethe data detected by the sensor; determine control adjustments for themodular device according to the data; and control the modular deviceaccording to the control adjustments.

Example 12

The system of any one of Examples 11, wherein the distributed controlsystem is transitionable between a first mode, where the distributedcontrol system is executed by both the first processor and the secondprocessor, and a second mode, where the distributed control system isexecuted solely by the first processor.

Example 13

The system of any one of Examples 11-12, wherein the distributed controlsystem is configured to shift between the first mode and the second modeupon receiving a command

Example 14

The system of any one of Examples 11-13, wherein the modular devicecomprises a radiofrequency (RF) electrosurgical instrument and thedistributed control system is configured to control an energy level ofthe RF electrosurgical instrument.

Example 15

The system of any one of Examples 11-14, wherein the modular devicecomprises a surgical cutting and stapling instrument and the distributedcontrol system is configured to control a rate at which a motor of thesurgical cutting and stapling instrument drives a knife.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub, comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: receive first image data from a first image sensor, wherein thefirst image data represents a first field of view; receive second imagedata from a second image sensor, wherein the second image datarepresents a second field of view; and display, on a display coupled tothe processor, a first image rendered from the first image datacorresponding to the first field of view and a second image renderedfrom the second image data corresponding to the second field of view.

Example 2

The surgical hub of Example 1, wherein the first field of view is anarrow angle field of view.

Example 3

The surgical hub of any one of Examples 1-2, wherein the first field ofview is a wide angle field of view.

Example 4

The surgical hub of any one of Examples 1-3, wherein the memory storesinstructions executable by the processor to augment the first image withthe second image on the display.

Example 5

The surgical hub of any one of Examples 1-4, wherein the memory storesinstructions executable by the processor to fuse the first image and thesecond image into a third image and display a fused image on thedisplay.

Example 6

The surgical hub of any one of Examples 1-5, wherein the fused imagedata comprises status information associated with a surgical device, animage data integration landmark to interlock a plurality of images, andat least one guidance parameter.

Example 7

The surgical hub of any one of Examples 1-6, wherein the first imagesensor is the same as the second image sensor and wherein the firstimage data is captured as a first time by the first image sensor and thesecond image data is captured at a second time by the first imagesensor.

Example 8

The surgical hub of any one of Examples 1-7, wherein the memory storesinstructions executable by the processor to: receive third image datafrom a third image sensor, wherein the third image data represents athird field of view; generate composite image data comprising the secondand third image data; display the first image in a first window of thedisplay, wherein the first image corresponds to the first image data;and display a third image in a second window of the display, wherein thethird image corresponds to the composite image data.

Example 9

The surgical hub of any one of Examples 1-8, wherein the memory storesinstructions executable by the processor to: receive third image datafrom a third image sensor, wherein the third image data represents athird field of view; fuse the second and third image data to generatefused image data; display the first image in a first window of thedisplay, wherein the first image corresponds to the first image data;and display a third image in a second window of the display, wherein thethird image corresponds to the fused image data.

Example 10

A surgical hub, comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: detect a surgical device connection to the surgical hub; transmit acontrol signal to the detected surgical device to transmit to thesurgical hub surgical parameter data associated with the detectedsurgical device; receive the surgical parameter data from the detectedsurgical device; receive image data from an image sensor; and display,on a display coupled to the surgical hub, an image rendered based on theimage data received from the image sensor in conjunction with thesurgical parameter data received from the surgical device.

Example 11

The surgical hub of Example 10, wherein the surgical device comprises alocal display that is separate from the display coupled to the surgicalhub.

Example 12

The surgical hub of any one of Examples 10-11, wherein the surgicaldevice connected to the surgical hub is configured to reconfigure thelocal display to present information that is different from informationpresented when the surgical device is not connected to the surgical hub.

Example 13

The surgical hub of any one of Examples 10-12, wherein a portion ofinformation displayed on the local display is displayed on the displaycoupled to the surgical hub.

Example 14

The surgical hub of any one of Examples 10-13, wherein informationdisplayed on the display coupled to the surgical hub is mirrored on thelocal display of the surgical device.

Example 15

A surgical hub, comprising: a control circuit configured to: detect asurgical device connection to the surgical hub; transmit a controlsignal to the detected surgical device to transmit to the surgical hubsurgical parameter data associated with the detected surgical device;receive the surgical parameter data from the detected surgical device;receive image data from an image sensor; and display, on a displaycoupled to the surgical hub, an image received from the image sensor inconjunction with the surgical parameter data received from the surgicaldevice.

Example 16

The surgical hub of Example 15, wherein the surgical device comprises alocal display that is separate from the display coupled to the surgicalhub.

Example 17

The surgical hub of any one of Examples 15-16, wherein the surgicaldevice connected to the surgical hub is configured to reconfigure thelocal display to present information that is different from informationpresented when the surgical device is not connected to the surgical hub.

Example 18

The surgical hub of any one of Examples 15-17, wherein a portion ofinformation displayed on the local display is displayed on the displaycoupled to the surgical hub.

Example 19

The surgical hub of any one of Examples 15-18, wherein informationdisplayed on the display coupled to the surgical hub is mirrored on thelocal display of the surgical device.

Example 20

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: detect asurgical device connection to the surgical hub; transmit a controlsignal to the detected surgical device to transmit to the surgical hubsurgical parameter data associated with the detected surgical device;receive the surgical parameter data from the detected surgical device;receive image data from an image sensor; and display, on a displaycoupled to the surgical hub, an image received from the image sensor inconjunction with the surgical parameter data received from the surgicaldevice.

Example 21

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: receive firstimage data from a first image sensor, wherein the first image datarepresents a first field of view; receive second image data from asecond image sensor, wherein the second image data represents a secondfield of view; and display, on a display coupled to the surgical hub, afirst image corresponding to the first field of view and a second imagecorresponding to the second field of view.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub, comprising: a processor; and a memory coupled to theprocessor, the memory storing instructions executable by the processorto: receive image data from an image sensor; generate a first imagebased on the image data; display the first image on a surgical hubdisplay coupled to the processor; receive a signal from a non-contactsensor, the signal indicative of a position of a surgical device;generate a second image based on the signal indicative of the positionof the surgical device; and display the second image on the surgical hubdisplay coupled to the processor.

Example 2

The surgical hub of Example 1, wherein the first image data represents acenter of a staple line.

Example 3

The surgical hub of any one of Examples 1-2, wherein the first imagerepresents a target corresponding to the center of the staple line.

Example 4

The surgical hub of any one of Examples 1-3, wherein the signal isindicative of the position of the surgical device relative to the centerof the staple line.

Example 5

The surgical hub of any one of Examples 1-4, wherein the second imagerepresents the position of the surgical device along a projected path ofthe surgical device toward the center of the staple line.

Example 6

The surgical hub of Example 1, wherein the staple line is a doublestaple line defining a staple overlap portion.

Example 7

The surgical hub of Example 6, wherein the surgical device is a circularstapler comprising an anvil trocar and the non-contact sensor isconfigured to detect the location of the anvil trocar relative to thestaple overlap portion.

Example 8

The surgical hub of Example 1, wherein the staple line is a linearstaple line formed using a linear transection technique.

Example 9

The surgical hub of Example 8, wherein a center of the linear stapleline is located halfway between one end of the linear staple line and anopposite end of the linear staple line.

Example 10

The surgical hub of any one of Examples 1-9, wherein the image sensor iscoupled to a medical imaging device.

Example 11

The surgical hub of any one of Examples 1-10, wherein the image sensorand the surgical device are separate devices.

Example 12

The surgical hub of Example 1, wherein the non-contact sensor is aninductive sensor.

Example 13

The surgical hub of Example 1, wherein the non-contact sensor is acapacitive sensor.

Example 14

A method of aligning a surgical instrument coupled to a surgical hub,the method comprising: receiving image data by a processor from an imagesensor; generating a first image by the processor based on the imagedata; displaying the first image on a surgical hub display coupled tothe processor; receiving a signal by the processor from a non-contactsensor, the signal indicative of a position of a surgical device;generating a second image by the processor based on the signalindicative of the position of the surgical device; and displaying thesecond image on the surgical hub display coupled to the processor.

Example 15

The method of Example 14, comprising displaying, on the surgical hubdisplay coupled to the processor, an indication when the second image isnot aligned with the first image.

Example 16

The method of any one of Examples 14-15, comprising displaying, on thesurgical hub display coupled to the processor, an indication when thesecond image is aligned with the first image.

Example 17

The method of any one of Examples 14-16, comprising displaying, on thesurgical hub display coupled to the processor, a projected path of thesurgical device as the second image moves towards the first image.

Example 18

The method of any one of Examples 14-17, comprising displaying, on thesurgical hub display coupled to the processor, the position of thesurgical device along the projected path of the surgical device towardthe center of the staple line.

Example 19

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: receive imagedata by a processor from an image sensor; generate a first image by theprocessor based on the image data; display the first image on a surgicalhub display coupled to the processor; receive a signal by the processorfrom a non-contact sensor, the signal indicative of a position of asurgical device; generate a second image by the processor based on thesignal indicative of the position of the surgical device; and displaythe second image on the surgical hub display coupled to the processor.

Example 20

The non-transitory computer readable medium of any one of Example 19,storing computer readable instructions which, when executed, causes amachine to display, on the surgical hub display coupled to theprocessor, an indication when the second image is not aligned with thefirst image.

Example 21

The non-transitory computer readable medium of any one of Examples19-20, storing computer readable instructions which, when executed,causes a machine to display, on the surgical hub display coupled to theprocessor, an indication when the second image is aligned with the firstimage.

Example 22

The non-transitory computer readable medium of any one of Examples19-21, storing computer readable instructions which, when executed,causes a machine to display, on the surgical hub display coupled to theprocessor, a projected path of the surgical device as the second imagemoves towards the first image.

Example 23

The non-transitory computer readable medium of any one of Examples19-22, storing computer readable instructions which, when executed,causes a machine to display, on the surgical hub display coupled to theprocessor, the position of the surgical device along the projected pathof the surgical device toward the center of the staple line.

Example 24

A surgical hub for aligning a surgical instrument, the surgical hubcomprising: a processor; and a memory coupled to the processor, thememory storing instructions executable by the processor to: receiveimage data from an image sensor, wherein the first image data representsa center of a staple line; generate a first image based on the imagedata; display the first image on a monitor coupled to the processor,wherein the first image represents a target corresponding to the centerof the staple line; receive a signal from a non-contact sensor, thesignal indicative of a position of a surgical device relative to thecenter of the staple line; and generate a second image based on theposition of the surgical device; display the second image on themonitor, wherein the second image represents the position of thesurgical device along a projected path of the surgical device toward thecenter of the staple line.

Example 25

The surgical hub of Example 24, wherein the center of the staple line isa double-staple overlap portion zone.

Example 26

The surgical hub of any one of Examples 24-25, wherein the image sensorreceives an image from a medical imaging device.

Example 27

The surgical hub of any one of Examples 24-26, wherein the surgicaldevice is a circular stapler comprising an anvil trocar and thenon-contact sensor is configured to detect the location of the anviltrocar relative to the center of the staple line.

Example 28

The surgical hub of Example 24, wherein the non-contact sensor is aninductive sensor.

Example 29

The surgical hub of Example 24, wherein the non-contact sensor is acapacitive sensor.

Example 30

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: receive imagedata from an image sensor, wherein the first image data represents acenter of a staple line; generate a first image based on the image data;display the first image on a monitor coupled to the processor, whereinthe first image represents a target corresponding to the center of thestaple line; receive a signal from a non-contact sensor, wherein thesignal is indicative of a position of a surgical device relative to thecenter of the staple line; generate a second image based on the positionof the surgical device; and display the second image on the monitor,wherein the second image represents the position of the surgical devicealong a projected path of the surgical device toward the center of thestaple line.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

An interactive control unit, comprising: an interactive touchscreendisplay; an interface configured to couple the control unit to asurgical hub; a processor; and a memory coupled to the processor, thememory storing instructions executable by the processor to: receiveinput commands from the interactive touchscreen display located inside asterile field; and transmit the input commands to the surgical hub tocontrol devices coupled to the surgical hub located outside the sterilefield.

Example 2

The interactive control unit of Example 1, wherein the processor isconfigured to receive an image array from a scanning device and displaythe image on the interactive touchscreen display.

Example 3

The interactive control unit of any one of Examples 1-2, wherein theprocessor is configured to display on the interactive touchscreendisplay an image of a virtual anatomy based on the received image array.

Example 4

The interactive control unit of any one of Examples 1-3, wherein theprocessor is configured to receive an image array from a laser Dopplerscanning device.

Example 5

The interactive control unit of any one of Examples 1-4, wherein theprocessor is configured to re-configure wireless devices coupled to thesurgical hub from control inputs received via the interactivetouchscreen display.

Example 6

The interactive control unit of any one of Examples 1-5, wherein theinteractive touchscreen display comprises multiple input and outputzones.

Example 7

An interactive control unit, comprising: an interactive touchscreendisplay; an interface configured to couple the control unit to a firstsurgical hub; a processor; and a memory coupled to the processor, thememory storing instructions executable by the processor to: receiveinput commands from the interactive touchscreen display located inside asterile field; transmit the input commands to the first surgical hub tocontrol devices coupled to the first surgical hub located outside thesterile field; receive a consult request from a second surgical hub; andconfigure a portion of the interactive touchscreen display to displayinformation received from the second surgical hub after receiving theconsult request.

Example 8

The interactive control unit of Example 7, wherein the processor isconfigured to temporarily store data associated with the interactivetouchscreen display.

Example 9

The interactive control unit of any one of Examples 7-8, wherein theprocessor is configured to back up the data in time.

Example 10

The interactive control unit of any one of Examples 7-9, wherein theprocessor is configured to view the information received from the secondsurgical hub.

Example 11

The interactive control unit of any one of Examples 7-10, wherein theprocessor is configured to delete the information received from thesecond surgical hub.

Example 12

The interactive control unit of any one of Examples 7-11, wherein theprocessor is configured to return control to the interactive surgicaltouchscreen in the first surgical hub.

Example 13

An interactive control unit, comprising: an interactive touchscreendisplay; an interface configured to couple the control unit to asurgical hub; and a control circuit to: receive input commands from theinteractive touchscreen display located inside a sterile field; andtransmit the input commands to the surgical hub to control devicescoupled to the surgical hub located outside the sterile field.

Example 14

The interactive control unit of Example 13, wherein the control circuitis configured to receive an image array from a scanning device anddisplay the image on the interactive touchscreen display.

Example 15

The interactive control unit of any one of Examples 13-14, wherein thecontrol circuit is configured to display on the interactive touchscreendisplay an image of a virtual anatomy based on the received image array.

Example 16

The interactive control unit of any one of Examples 13-15, wherein thecontrol circuit is configured to receive an image array from a laserDoppler scanning device.

Example 17

The interactive control unit of any one of Examples 13-16, wherein thecontrol circuit is configured to re-configure wireless devices coupledto the surgical hub from control inputs received via the interactivetouchscreen display.

Example 18

The interactive control unit of any one of Examples 13-17, wherein theinteractive touchscreen display comprises multiple input and outputzones.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical hub for use with a surgical instrument configured to delivertherapeutic energy to tissue at a surgical site of a surgical procedure,wherein the surgical hub comprises: a hub enclosure, comprising adocking station including a docking port comprising data and powercontacts; and a combo generator module removably retainable in thedocking station, wherein the combo generator module comprises: anultrasonic energy generator component; a radio frequency (RF) energygenerator component; a smoke evacuation component; a connection port,wherein at least one of the ultrasonic energy generator component andthe radio frequency (RF) generator component is couplable to thesurgical instrument through the connection port; and at least one smokeevacuation component configured to evacuate smoke generated by anapplication of therapeutic energy to the tissue by the surgicalinstrument.

Example 2

The surgical hub of Example 1, wherein the docking station is a firstdocking station, wherein the docking port is a first docking port, andwherein the hub enclosure comprises a second docking station comprisinga second docking port that has data and power contacts.

Example 3

The surgical hub of Example 2, further comprising a suction andirrigation module removably retainable in the second docking station.

Example 4

The surgical hub of Example 3, wherein the combo generator modulecomprises a third docking port connectable to the first docking port ofthe first docking station.

Example 5

The surgical hub of Example 4, wherein the suction and irrigation modulecomprises a fourth docking port connectable to the second docking portof the second docking station.

Example 6

The surgical hub of Example 5, wherein the hub enclosure comprises acommunication link between the second docking port and the first dockingport.

Example 7

The surgical hub of any of Examples 1-6, wherein the combo generatormodule comprises a fluid line extendable to the remote surgical site forpassing the smoke evacuated from the remote surgical site to the combogenerator module.

Example 8

The surgical hub of any one of Examples 1-7, wherein the docking stationcomprises brackets configured to slidably receive and guide the combogenerator module into a working connection with the power and datacontacts of the docking port.

Example 9

The surgical hub of any one of Examples 1-8, wherein the combo generatormodule comprises side brackets configured to movably engage the bracketsof the docking station.

Example 10

A modular surgical hub for use with a surgical instrument configured todeliver therapeutic energy to tissue at a surgical site of a surgicalprocedure, wherein the modular surgical enclosure comprises: a firstenergy-generator module configured to generate a first therapeuticenergy for application to the tissue; a first docking station comprisinga first docking port that includes first data and power contacts,wherein the first energy-generator module is slidably movable into anelectrical engagement with the first data and power contacts, andwherein the first energy-generator module is slidably movable out of theelectrical engagement with the first data and power contacts; a secondenergy-generator module configured to generate a second therapeuticenergy, different than the first therapeutic energy, for application tothe tissue; a second docking station comprising a second docking portthat includes second data and power contacts, wherein the secondenergy-generator module is slidably movable into an electricalengagement with the second data and power contacts, and wherein thesecond energy-generator module is slidably movable out of the electricalengagement with the second data and power contacts; and a communicationbus between the first docking port and the second docking portconfigured to facilitate communication between the firstenergy-generator module and the second energy-generator module.

Example 11

The modular surgical hub of Example 10, wherein the first dockingstation comprises brackets configured to slidably receive and guide thefirst energy-generator module into the electrical engagement with thefirst data and power contacts.

Example 12

The modular surgical hub of Example 11, wherein the second dockingstation comprises brackets configured to slidably receive and guide thesecond energy-generator module into the electrical engagement with thesecond data and power contacts.

Example 13

The modular surgical hub of any one of Examples 10-12, wherein the firsttherapeutic energy is an ultrasonic energy.

Example 14

The modular surgical hub of any one of Exampled 10-12, wherein thesecond therapeutic energy is a radio frequency (RF) energy.

Example 15

The modular surgical hub of any one of Examples 10-14, furthercomprising a smoke evacuation module configured to evacuate smokegenerated at the remote surgical site by application of the firsttherapeutic energy to the tissue.

Example 16

The modular surgical hub of Example 15, further comprising a thirddocking station comprising a third docking port that includes third dataand power contacts.

Example 17

The modular surgical hub of Example 16, further comprising a suction andirrigation module slidably movable into an electrical engagement withthe third data and power contacts, and wherein the suction andirrigation module is slidably movable out of the electrical engagementwith the third data and power contacts.

Example 18

A surgical hub for use with a surgical instrument configured to delivertherapeutic energy to tissue at a surgical site of a surgical procedure,wherein the surgical hub comprises: a hub enclosure, comprising dockingstations including docking ports comprising data and power contacts; acombo generator module slidably receivable in a first of the dockingstations, wherein the combo generator module comprises: an ultrasonicenergy generator component; a radio frequency (RF) energy generatorcomponent; and a connection port, wherein at least one of the ultrasonicenergy generator component and the radio frequency (RF) generatorcomponent is couplable to the surgical instrument through the connectionport; a smoke evacuation module slidably receivable in a second one ofthe docking stations, wherein the smoke evacuation module is configuredto evacuate smoke generated by an application of the therapeutic energyto the tissue by the surgical instrument; a processing module slidablyreceivable in a third one of the docking stations; a memory moduleslidably receivable in a fourth one of the docking stations; and anoperating-room mapping module slidably receivable in a fifth one of thedocking stations.

Example 19

The surgical hub of Example 18, wherein the docking stations comprisebrackets configured to slidably guide the modules into electricalengagements with the power and data contacts of the docking ports.

Example 20

The surgical hub of any one of Examples 18-19, comprising a display.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical image acquisition system comprising: a plurality ofillumination sources wherein each illumination source is configured toemit light having a specified central wavelength; a light sensorconfigured to receive a portion of the light reflected from a tissuesample when illuminated by the one or more of the plurality ofillumination sources; and a computing system, wherein the computingsystem is configured to: receive data from the light sensor when thetissue sample is illuminated by each of the plurality of illuminationsources; determine a depth location of a structure within the tissuesample based on the data received by the light sensor when the tissuesample is illuminated by each of the plurality of illumination sources;and calculate visualization data regarding the structure and the depthlocation of the structure, wherein the visualization data have a dataformat that may be used by a display system, and wherein the structurecomprises one or more vascular tissues.

Example 2

The surgical image acquisition system of any one of Example 1, whereinthe plurality of illumination sources comprises an illumination sourcehaving a central wavelength in a range between 635 nm and 660 nm,inclusive.

Example 3

The surgical image acquisition system of any one of Examples 1-2,wherein the plurality of illumination sources comprises an illuminationsource having a central wavelength in a range between 750 nm and 3000nm.

Example 4

The surgical image acquisition system of any one of Examples 1-3,wherein the plurality of illumination sources comprises an illuminationsource configured to emit a broad spectral range of illumination.

Example 5

The surgical image acquisition system of any one of Examples 1-4,wherein the plurality of illumination sources comprises a laserillumination source.

Example 6

A surgical image acquisition system comprising: a processor; and amemory coupled to the processor, the memory storing instructionsexecutable by the processor to: control the operation of a plurality ofillumination sources of a tissue sample wherein each illumination sourceis configured to emit light having a specified central wavelength;receive data from a light sensor when the tissue sample is illuminatedby each of the plurality of illumination sources; determine a depthlocation of a structure within the tissue sample based on the datareceived by the light sensor when the tissue sample is illuminated byeach of the plurality of illumination sources; and calculatevisualization data regarding the structure and the depth location of thestructure, wherein the visualization data have a data format that may beused by a display system, and wherein the structure comprises one ormore vascular tissues.

Example 7

The surgical image acquisition system of any one of Example 6, whereinthe instruction, executable by the processor, to determine a depthlocation of a structure within the tissue sample based on the datareceived by the light sensor when the tissue sample is illuminated byeach of the plurality of illumination sources comprises an instructionto determine a depth location of a structure within the tissue samplebased on a central wavelength of light emitted by at least one of theplurality of illumination sources.

Example 8

The surgical image acquisition system of any one of Examples 6-7,wherein the instructions, executable by the processor, further comprisean instruction to calculate a flow of a material through the one or morevascular tissues.

Example 9

The surgical image acquisition system of any one of Example 8, whereinthe instruction, executable by the processor, to calculate visualizationdata regarding the structure and the depth location of the structurefurther includes an instruction, executable by the processor, tocalculate visualization data including data representative of the flowof material through the one or more vascular tissues.

Example 10

A surgical image acquisition system comprising: a control circuitconfigured to: control the operation of a plurality of illuminationsources of a tissue sample wherein each illumination source isconfigured to emit light having a specified central wavelength; receivedata from a light sensor when the tissue sample is illuminated by eachof the plurality of illumination sources; determine a depth location ofa structure within the tissue sample based on the data received by thelight sensor when the tissue sample is illuminated by each of theplurality of illumination sources; and calculate visualization dataregarding the structure and the depth location of the structure, whereinthe visualization data have a data format that may be used by a displaysystem, and wherein the structure comprises one or more vasculartissues.

Example 11

The surgical image acquisition system of any one of Example 10, whereinthe control circuit configured to control the operation of a pluralityof illumination sources of a tissue sample comprises a control circuitconfigured to sequentially actuate each of the plurality of illuminationsources to illuminate the tissue sample.

Example 12

The surgical image acquisition system of any one of Examples 10-11,wherein the control circuit configured to determine a depth location ofa structure within the tissue sample comprises a control circuitconfigured to determine the depth location of the structure based on apenetration depth of illumination sourced by each of the plurality ofillumination sources.

Example 13

The surgical image acquisition system of any one of Example 12, whereinthe structure comprises a surface structure within the tissue sample.

Example 14

The surgical image acquisition system of any one of Examples 10-13,wherein the control circuit configured to control the operation of aplurality of illumination sources of a tissue sample comprises a controlcircuit configured to operate at least one of a red light illuminationsource, a green light illumination source, and a blue light illuminationsource.

Example 15

The surgical image acquisition system of any one of Examples 10-14,wherein the control circuit configured to control the operation of aplurality of illumination sources of a tissue sample comprises a controlcircuit configured to operate at least one of an infrared lightillumination source and an ultraviolet light illumination source.

Example 16

The surgical image acquisition system of any one of Examples 10-15,wherein the control circuit is further configured to determine a flow ofmaterial through the one or more vascular tissues.

Example 17

The surgical image acquisition system of any one of Example 16, whereinthe control circuit configured to determine a flow of material throughthe one or more vascular tissues comprises a control circuit configuredto analyze the data received from the light sensor when the tissuesample is illuminated by each of the plurality of illumination sourcesfor a Doppler shift in wavelength of light emitted by each of theplurality of illumination sources.

Example 18

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: control theoperation of a plurality of illumination sources of a tissue samplewherein each illumination source is configured to emit light having aspecified central wavelength; receive data from a light sensor when thetissue sample is illuminated by each of the plurality of illuminationsources; determine a depth location of a structure within the tissuesample based on the data received by the light sensor when the tissuesample is illuminated by each of the plurality of illumination sources;and calculate visualization data regarding the structure and the depthlocation of the structure, wherein the visualization data have a dataformat that may be used by a display system, and wherein the structurecomprises one or more vascular tissues.

Example 19

The non-transitory computer readable medium of any one of Example 18,wherein the computer readable instructions, when executed, further causethe machine to: control the operation of an additional illuminationsource wherein the additional illumination source is a white lightsource; and receive data from the light sensor when the tissue sample isilluminated by the white light source.

Example 20

The non-transitory computer readable medium of any one of Example 19,wherein the computer readable instructions, when executed, that causethe machine to calculate visualization data regarding the structure andthe depth location of the structure further cause the machine tocalculate visualization data based on the data received from the lightsensor when the tissue sample is illuminated by the white light source.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A surgical image acquisition system comprising: a plurality ofillumination sources wherein each illumination source is configured toemit light having a specified central wavelength; a light sensorconfigured to receive a portion of the light reflected from a tissuesample when illuminated by the one or more of the plurality ofillumination sources; and a computing system, wherein the computingsystem is configured to: receive data from the light sensor when thetissue sample is illuminated by each of the plurality of illuminationsources; calculate structural data related to a characteristic of astructure within the tissue sample based on the data received by thelight sensor when the tissue sample is illuminated by each of theillumination sources; and transmit the structural data related to thecharacteristic of the structure to be received by a smart surgicaldevice, wherein the characteristic of the structure is a surfacecharacteristic or a structure composition.

Example 2

The surgical image acquisition system of any one of Example 1, whereinthe plurality of illumination sources comprises at least one of a redlight illumination source, a green light illumination source, and a bluelight illumination source.

Example 3

The surgical image acquisition system of any one of Examples 1-2,wherein the plurality of illumination sources comprises at least one ofan infrared light illumination source and an ultraviolet lightillumination source.

Example 4

The surgical image acquisition system of any one of Examples 1-3,wherein the computing system, configured to calculate structural datarelated to a characteristic of a structure within the tissue, comprisesa computing system configured to calculate structural data related to acomposition of a structure within the tissue.

Example 5

The surgical image acquisition system of any one of Examples 1-4,wherein the computing system, configured to calculate structural datarelated to a characteristic of a structure within the tissue, comprisesa computing system configured to calculate structural data related to asurface roughness of a structure within the tissue.

Example 6

A surgical image acquisition system comprising: a processor; and amemory coupled to the processor, the memory storing instructionsexecutable by the processor to: control the operation of a plurality ofillumination sources of a tissue sample wherein each illumination sourceis configured to emit light having a specified central wavelength;receive data from the light sensor when the tissue sample is illuminatedby each of the plurality of illumination sources; calculate structuraldata related to a characteristic of a structure within the tissue samplebased on the data received by the light sensor when the tissue sample isilluminated by each of the illumination sources; and transmit thestructural data related to the characteristic of the structure to bereceived by a smart surgical device, wherein the characteristic of thestructure is a surface characteristic or a structure composition.

Example 7

The surgical image acquisition system of any one of Example 6, whereinthe instructions executable by the processor to control the operation ofa plurality of illumination sources comprise one or more instructions toilluminate the tissue sample sequentially by each of the plurality ofillumination sources.

Example 8

The surgical image acquisition system of any one of Examples 6-Example 7wherein the instructions executable by the processor to calculatestructural data related to a characteristic of a structure within thetissue sample based on the data received by the light sensor compriseone or more instructions to calculate structural data related to acharacteristic of a structure within the tissue sample based on a phaseshift in the illumination reflected by the tissue sample.

Example 9

The surgical image acquisition system of any one of Examples 6-8,wherein the structure composition comprises a relative composition ofcollagen and elastin in a tissue.

Example 10

The surgical image acquisition system of any one of Examples 6-9,wherein the structure composition comprises an amount of hydration of atissue.

Example 11

A surgical image acquisition system comprising: a control circuitconfigured to: control the operation of a plurality of illuminationsources of a tissue sample wherein each illumination source isconfigured to emit light having a specified central wavelength; receivedata from the light sensor when the tissue sample is illuminated by eachof the plurality of illumination sources; calculate structural datarelated to a characteristic of a structure within the tissue samplebased on the data received by the light sensor when the tissue sample isilluminated by each of the illumination sources; and transmit thestructural data related to the characteristic of the structure to bereceived by a smart surgical device, wherein the characteristic of thestructure is a surface characteristic or a structure composition.

Example 12

The surgical image acquisition system of any one of Example 11, whereinthe control circuit is configured to transmit the structural datarelated to the characteristic of the structure to be received by a smartsurgical device wherein the smart surgical device is a smart surgicalstapler.

Example 13

The surgical image acquisition system of any one of Example 12, whereinthe control circuit is further configured to transmit data related to ananvil pressure based on the characteristic of the structure to bereceived by the smart surgical stapler.

Example 14

The surgical image acquisition system of any one of Examples 11-13,wherein the control circuit is configured to transmit the structuraldata related to the characteristic of the structure to be received by asmart surgical device wherein the smart surgical device is a smartsurgical RF sealing device.

Example 15

The surgical image acquisition system of any one of Example 14, whereinthe control circuit is further configured to transmit data related to anamount of RF power based on the characteristic of the structure to bereceived by the smart RF sealing device.

Example 16

The surgical image acquisition system of any one of Examples 11-15,wherein the control circuit is configured to transmit the structuraldata related to the characteristic of the structure to be received by asmart surgical device wherein the smart surgical device is a smartultrasound cutting device.

Example 17

The surgical image acquisition system of any one of Example 16, whereinthe control circuit is further configured to transmit data related to anamount of power provided to an ultrasonic transducer or a drivingfrequency of the ultrasonic transducer based on the characteristic ofthe structure to be received by the ultrasound cutting device.

Example 18

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: control theoperation of a plurality of illumination sources of a tissue samplewherein each illumination source is configured to emit light having aspecified central wavelength; receive data from the light sensor whenthe tissue sample is illuminated by each of the plurality ofillumination sources; calculate structural data related to acharacteristic of a structure within the tissue sample based on the datareceived by the light sensor when the tissue sample is illuminated byeach of the illumination sources; and transmit the structural datarelated to the characteristic of the structure to be received by a smartsurgical device, wherein the characteristic of the structure is asurface characteristic or a structure composition.

Various additional aspects of the subject matter described herein areset out in the following numbered examples:

Example 1

A minimally invasive image acquisition system comprising: a plurality ofillumination sources wherein each illumination source is configured toemit light having a specified central wavelength; a first light sensingelement having a first field of view and configured to receiveillumination reflected from a first portion of a surgical site when thefirst portion of the surgical site is illuminated by at least one of theplurality of illumination sources; a second light sensing element havinga second field of view and configured to receive illumination reflectedfrom a second portion of the surgical site when the second portion ofthe surgical site is illuminated by at least one of the plurality ofillumination sources, wherein the second field of view overlaps at leasta portion of the first field of view; and a computing system, whereinthe computing system is configured to: receive data from the first lightsensing element, receive data from the second light sensing element,compute imaging data based on the data received from the first lightsensing element and the data received from the second light sensingelement, and transmit the imaging data for receipt by a display system.

Example 2

The minimally invasive image acquisition system of any one of Example 1,wherein the first field of view has a first angle and the second fieldof view has a second angle and the first angle is the same as the secondangle.

Example 3

The minimally invasive image acquisition system of any one of Examples1-2, wherein the first field of view has a first angle and the secondfield of view has a second angle and the first angle differs from thesecond angle.

Example 4

The minimally invasive image acquisition system of any one of Examples1-3, wherein the first light sensing element has an optical componentconfigured to adjust the first field of view.

Example 5

The minimally invasive image acquisition system of any one of Examples1-4, wherein the second light sensing element has an optical componentconfigured to adjust the second field of view.

Example 6

The minimally invasive image acquisition system of any one of Examples1-5, wherein the second field of view overlaps all of the first field ofview.

Example 7

The minimally invasive image acquisition system of any one of Examples1-6, wherein the first field of view is completely enclosed by thesecond field of view.

Example 8

The minimally invasive image acquisition system of any one of Examples1-7, wherein the first light sensing element and the second lightsensing element are at least partially disposed within an elongatedcamera probe.

Example 9

The minimally invasive image acquisition system of any one of Examples1-8, wherein each of the plurality of illumination source is configuredto emit light having a specified central wavelength within a visiblespectrum.

Example 10

The minimally invasive image acquisition system of any one of Examples1-9, wherein at least one of the plurality of illumination source isconfigured to emit light having a specified central wavelength outsideof a visible spectrum.

Example 11

The minimally invasive image acquisition system of any one of Example10, wherein the specified central wavelength outside of the visiblespectrum is within an ultra-violet range.

Example 12

The minimally invasive image acquisition system of any one of Examples10-11, wherein the specified central wavelength outside of the visiblespectrum is within an infrared range.

Example 13

The minimally invasive image acquisition system of any one of Examples1-12, wherein the computing system configured to compute imaging databased on the data received from the first light sensing element and thedata received from the second light sensing element comprises acomputing system configured to perform a first data analysis on the datareceived from the first light sensing element and a second data analysison the data received from the second light sensing element.

Example 14

The minimally invasive image acquisition system of any one of Example13, wherein the first data analysis differs from the second dataanalysis.

Example 15

A minimally invasive image acquisition system comprising: a processor;and a memory coupled to the processor, the memory storing instructionsexecutable by the processor to: control an operation of a plurality ofillumination sources of a tissue sample wherein each illumination sourceis configured to emit light having a specified central wavelength;receive, from a first light sensing element, first data related toillumination reflected from a first portion of a surgical site when thefirst portion of the surgical site is illuminated by at least one of theplurality of illumination source, receive, from a second light sensingelement, second data related to illumination reflected from a secondportion of the surgical site when the second portion of the surgicalsite is illuminated by at least one of the plurality of illuminationsources, wherein the second field of view overlaps at least a portion ofthe first field of view, compute imaging data based on the first datareceived from the first light sensing element and the second datareceived from the second light sensing element, and transmit the imagingdata for receipt by a display system.

Example 16

The minimally invasive image acquisition system of any one of Example15, wherein the memory coupled to the processor further storesinstructions executable by the processor to receive, from a surgicalinstrument, operational data related to a function or status of thesurgical instrument.

Example 17

The minimally invasive image acquisition system of any one of Example16, wherein the memory coupled to the processor further storesinstructions executable by the processor to compute imaging data basedon the first data received from the first light sensing element, thesecond data received from the second light sensing element, and theoperational data related to the function or status of the surgicalinstrument.

Example 18

A minimally invasive image acquisition system comprising: a controlcircuit configured to: control an operation of a plurality ofillumination sources of a tissue sample wherein each illumination sourceis configured to emit light having a specified central wavelength;receive, from a first light sensing element, first data related toillumination reflected from a first portion of a surgical site when thefirst portion of the surgical site is illuminated by at least one of theplurality of illumination source, receive, from a second light sensingelement, second data related to illumination reflected from a secondportion of the surgical site when the second portion of the surgicalsite is illuminated by at least one of the plurality of illuminationsources, wherein the second field of view overlaps at least a portion ofthe first field of view, compute imaging data based on the first datareceived from the first light sensing element and the second datareceived from the second light sensing element, and transmit the imagingdata for receipt by a display system.

Example 19

A non-transitory computer readable medium storing computer readableinstructions which, when executed, causes a machine to: control anoperation of a plurality of illumination sources of a tissue samplewherein each illumination source is configured to emit light having aspecified central wavelength; receive, from a first light sensingelement, first data related to illumination reflected from a firstportion of a surgical site when the first portion of the surgical siteis illuminated by at least one of the plurality of illumination source,receive, from a second light sensing element, second data related toillumination reflected from a second portion of the surgical site whenthe second portion of the surgical site is illuminated by at least oneof the plurality of illumination sources, wherein the second field ofview overlaps at least a portion of the first field of view, computeimaging data based on the first data received from the first lightsensing element and the second data received from the second lightsensing element, and transmit the imaging data for receipt by a displaysystem.

While several forms have been illustrated and described, it is not theintention of the applicant to restrict or limit the scope of theappended claims to such detail. Numerous modifications, variations,changes, substitutions, combinations, and equivalents to those forms maybe implemented and will occur to those skilled in the art withoutdeparting from the scope of the present disclosure. Moreover, thestructure of each element associated with the described forms can bealternatively described as a means for providing the function performedby the element. Also, where materials are disclosed for certaincomponents, other materials may be used. It is therefore to beunderstood that the foregoing description and the appended claims areintended to cover all such modifications, combinations, and variationsas falling within the scope of the disclosed forms. The appended claimsare intended to cover all such modifications, variations, changes,substitutions, modifications, and equivalents.

The foregoing detailed description has set forth various forms of thedevices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, and/or examples can beimplemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or virtually any combination thereof.Those skilled in the art will recognize that some aspects of the formsdisclosed herein, in whole or in part, can be equivalently implementedin integrated circuits, as one or more computer programs running on oneor more computers (e.g., as one or more programs running on one or morecomputer systems), as one or more programs running on one or moreprocessors (e.g., as one or more programs running on one or moremicroprocessors), as firmware, or as virtually any combination thereof,and that designing the circuitry and/or writing the code for thesoftware and or firmware would be well within the skill of one ofskilled in the art in light of this disclosure. In addition, thoseskilled in the art will appreciate that the mechanisms of the subjectmatter described herein are capable of being distributed as one or moreprogram products in a variety of forms and that an illustrative form ofthe subject matter described herein applies regardless of the particulartype of signal-bearing medium used to actually carry out thedistribution.

Instructions used to program logic to perform various disclosed aspectscan be stored within a memory in the system, such as DRAM, cache, flashmemory, or other storage. Furthermore, the instructions can bedistributed via a network or by way of other computer-readable media.Thus a machine-readable medium may include any mechanism for storing ortransmitting information in a form readable by a machine (e.g., acomputer), but is not limited to, floppy diskettes, optical disks,CD-ROMs, magneto-optical disks, ROM, RAM, EPROM, EEPROM, magnetic oroptical cards, flash memory, or tangible, machine-readable storage usedin the transmission of information over the Internet via electrical,optical, acoustical, or other forms of propagated signals (e.g., carrierwaves, infrared signals, digital signals) Accordingly, thenon-transitory computer-readable medium includes any type of tangiblemachine-readable medium suitable for storing or transmitting electronicinstructions or information in a form readable by a machine (e.g., acomputer).

As used in any aspect herein, the term “control circuit” may refer to,for example, hardwired circuitry, programmable circuitry (e.g., acomputer processor comprising one or more individual instructionprocessing cores, processing unit, processor, microcontroller,microcontroller unit, controller, DSP, PLD, programmable logic array(PLA), or FPGA), state machine circuitry, firmware that storesinstructions executed by programmable circuitry, and any combinationthereof. The control circuit may, collectively or individually, beembodied as circuitry that forms part of a larger system, for example,an integrated circuit, an application-specific integrated circuit(ASIC), a system on-chip (SoC), desktop computers, laptop computers,tablet computers, servers, smart phones, etc. Accordingly, as usedherein, “control circuit” includes, but is not limited to, electricalcircuitry having at least one discrete electrical circuit, electricalcircuitry having at least one integrated circuit, electrical circuitryhaving at least one application-specific integrated circuit, electricalcircuitry forming a general-purpose computing device configured by acomputer program (e.g., a general-purpose computer configured by acomputer program which at least partially carries out processes and/ordevices described herein, or a microprocessor configured by a computerprogram which at least partially carries out processes and/or devicesdescribed herein), electrical circuitry forming a memory device (e.g.,forms of random access memory), and/or electrical circuitry forming acommunications device (e.g., a modem, communications switch, oroptical-electrical equipment). Those having skill in the art willrecognize that the subject matter described herein may be implemented inan analog or digital fashion or some combination thereof.

As used in any aspect herein, the term “logic” may refer to an app,software, firmware, and/or circuitry configured to perform any of theaforementioned operations. Software may be embodied as a softwarepackage, code, instructions, instruction sets, and/or data recorded onnon-transitory computer-readable storage medium. Firmware may beembodied as code, instructions, instruction sets, and/or data that arehard-coded (e.g., non-volatile) in memory devices.

As used in any aspect herein, the terms “component,” “system,” “module,”and the like can refer to a computer-related entity, either hardware, acombination of hardware and software, software, or software inexecution.

As used in any aspect herein, an “algorithm” refers to a self-consistentsequence of steps leading to a desired result, where a “step” refers toa manipulation of physical quantities and/or logic states which may,though need not necessarily, take the form of electrical or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It is common usage to refer to these signals asbits, values, elements, symbols, characters, terms, numbers, or thelike. These and similar terms may be associated with the appropriatephysical quantities and are merely convenient labels applied to thesequantities and/or states.

A network may include a packet-switched network. The communicationdevices may be capable of communicating with each other using a selectedpacket-switched network communications protocol. One examplecommunications protocol may include an Ethernet communications protocolwhich may be capable permitting communication using a TransmissionControl Protocol/IP. The Ethernet protocol may comply or be compatiblewith the Ethernet standard published by the Institute of Electrical andElectronics Engineers (IEEE) titled “IEEE 802.3 Standard,” published inDecember 2008 and/or later versions of this standard Alternatively oradditionally, the communication devices may be capable of communicatingwith each other using an X.25 communications protocol. The X.25communications protocol may comply or be compatible with a standardpromulgated by the International TelecommunicationUnion-Telecommunication Standardization Sector (ITU-T). Alternatively oradditionally, the communication devices may be capable of communicatingwith each other using a frame relay communications protocol. The framerelay communications protocol may comply or be compatible with astandard promulgated by Consultative Committee for InternationalTelegraph and Telephone (CCITT) and/or the American National StandardsInstitute (ANSI). Alternatively or additionally, the transceivers may becapable of communicating with each other using an Asynchronous TransferMode (ATM) communications protocol. The ATM communications protocol maycomply or be compatible with an ATM standard published by the ATM Forum,titled “ATM-MPLS Network Interworking 2.0,” published August 2001,and/or later versions of this standard Of course, different and/orafter-developed connection-oriented network communication protocols areequally contemplated herein.

Unless specifically stated otherwise as apparent from the foregoingdisclosure, it is appreciated that, throughout the foregoing disclosure,discussions using terms such as “processing,” “computing,”“calculating,” “determining,” “displaying,” or the like, refer to theaction and processes of a computer system, or similar electroniccomputing device, that manipulates and transforms data represented asphysical (electronic) quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission, or display devices.

One or more components may be referred to herein as “configured to,”“configurable to,” “operable/operative to,” “adapted/adaptable,” “ableto,” “conformable/conformed to,” etc. Those skilled in the art willrecognize that “configured to” can generally encompass active-statecomponents, inactive-state components, and/or standby-state components,unless context requires otherwise.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician, andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical,” “horizontal,” “up,” and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Those skilled in the art will recognize that, in general, terms usedherein, and especially in the appended claims (e.g., bodies of theappended claims), are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including, but not limited to”;the term “having” should be interpreted as “having at least”; the term“includes” should be interpreted as “includes, but is not limited to”).It will be further understood by those within the art that if a specificnumber of an introduced claim recitation is intended, such an intentwill be explicitly recited in the claim, and in the absence of suchrecitation, no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to claims containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should typically be interpreted to mean “atleast one” or “one or more”); the same holds true for the use ofdefinite articles used to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in general,such a construction is intended in the sense that one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, and C” would include, but not be limited to, systems thathave A alone, B alone, C alone, A and B together, A and C together, Band C together, and/or A, B, and C together). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral, such a construction is intended in the sense that one havingskill in the art would understand the convention (e.g., “a system havingat least one of A, B, or C” would include, but not be limited to,systems that have A alone, B alone, C alone, A and B together, A and Ctogether, B and C together, and/or A, B, and C together). It will befurther understood by those within the art that typically a disjunctiveword and/or phrase presenting two or more alternative terms, whether inthe description, claims, or drawings, should be understood tocontemplate the possibilities of including one of the terms, either ofthe terms, or both terms, unless context dictates otherwise. Forexample, the phrase “A or B” will be typically understood to include thepossibilities of “A” or “B” or “A and B.”

With respect to the appended claims, those skilled in the art willappreciate that recited operations therein may generally be performed inany order. Also, although various operational flow diagrams arepresented in a sequence(s), it should be understood that the variousoperations may be performed in other orders than those which areillustrated or may be performed concurrently. Examples of such alternateorderings may include overlapping, interleaved, interrupted, reordered,incremental, preparatory, supplemental, simultaneous, reverse, or othervariant orderings, unless context dictates otherwise. Furthermore, termslike “responsive to,” “related to,” or other past-tense adjectives aregenerally not intended to exclude such variants, unless context dictatesotherwise.

It is worthy to note that any reference to “one aspect,” “an aspect,”“an exemplification,” “one exemplification,” and the like means that aparticular feature, structure, or characteristic described in connectionwith the aspect is included in at least one aspect. Thus, appearances ofthe phrases “in one aspect,” “in an aspect,” “in an exemplification,”and “in one exemplification” in various places throughout thespecification are not necessarily all referring to the same aspect.Furthermore, the particular features, structures, or characteristics maybe combined in any suitable manner in one or more aspects.

Any patent application, patent, non-patent publication, or otherdisclosure material referred to in this specification and/or listed inany Application Data Sheet is incorporated by reference herein, to theextent that the incorporated materials are not inconsistent herewith. Assuch, and to the extent necessary, the disclosure as explicitly setforth herein supersedes any conflicting material incorporated herein byreference. Any material, or portion thereof, that is said to beincorporated by reference herein but which conflicts with existingdefinitions, statements, or other disclosure material set forth hereinwill only be incorporated to the extent that no conflict arises betweenthat incorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more forms has been presented for purposes of illustrationand description. It is not intended to be exhaustive or limiting to theprecise form disclosed. Modifications or variations are possible inlight of the above teachings. The one or more forms were chosen anddescribed in order to illustrate principles and practical application tothereby enable one of ordinary skill in the art to utilize the variousforms and with various modifications as are suited to the particular usecontemplated. It is intended that the claims submitted herewith definethe overall scope.

1. A method, comprising: detecting a modular surgical device withinbounds of a surgical operating room; connecting the modular surgicaldevice to a surgical hub; connecting the surgical hub to a cloud-basedsystem; transmitting surgical data associated with a surgical procedurebeing performed in the surgical operating room from the modular surgicaldevice to the surgical hub; and transmitting the surgical data from thesurgical hub to the cloud-based system.
 2. The method of claim 1,wherein the modular surgical device is a first modular surgical device,and wherein the method further comprises detecting a second modularsurgical device within the bounds of the surgical operating room.
 3. Themethod of claim 2, further comprising connecting the second modularsurgical device to the surgical hub.
 4. The method of claim 3, furthercomprising controlling the first modular surgical device with the secondmodular surgical device.
 5. The method of claim 1, further comprisinginferring progression of the surgical procedure from the surgical data.6. A method, comprising: detecting a medical imaging device withinbounds of a surgical operating room; connecting the medical imagingdevice to a surgical hub including an imaging module; transmitting alivestream of a surgical site in the surgical operating room from themedical imaging device to the imaging module; capturing, by the imagingmodule, at least one image frame from the livestream; derivinginformation relevant to the surgical site from data extracted from theat least one image frame; transmitting the information from the surgicalhub to the medical imaging device; and overlaying the information ontothe livestream.
 7. The method of claim 6, further comprising detecting amodular surgical device within the bounds of the surgical operatingroom.
 8. The method of claim 7, further comprising connecting themodular surgical device to the surgical hub.
 9. The method of claim 8,further comprising assessing a surgical activity performed by an endeffector of the modular surgical device at the surgical site from thedata extracted from the at least one image frame.
 10. The method ofclaim 6, further comprising connecting the surgical hub to a cloud-basedcontrol system.
 11. The method of claim 10, further comprisingtransmitting the information from the surgical hub to the cloud-basedcontrol system.
 12. A method, comprising: detecting a modular surgicaldevice within bounds of a surgical operating room; connecting themodular surgical device to a surgical hub; transmitting a livestream ofa surgical site in the surgical operating room to an imaging module ofthe surgical hub; capturing, by the imaging module, at least one imageframe from the livestream; and assessing a surgical activity performedby an end effector of the modular surgical device at the surgical sitefrom data extracted from the at least one image frame.
 13. The method ofclaim 12, further comprising inferring progression of the surgicalactivity from the data.
 14. The method of claim 13, further comprisingconnecting the surgical hub to a cloud-based control system.
 15. Themethod of claim 14, further comprising transmitting the data from thesurgical hub to the cloud-based control system.